Details of the KUKA robot:
KUKA AGILUS KR10 900
KSS version is V8.3.30
KRC4 10
Hi all,
After working for a while on robot, I have another question to the kuka users and experts.
I have been trying to work around the software and the physical limits of the axis, as I want to use maximum of the workspace, but I have some problems in doing so.
The robot motion is guided on real time with the force torque sensors and is using cartesian based PTP motion commands. So when I am near the limit of particular axis, there is possibility for the robot to stop with a workspace or axis limit error. I'm looking for solution where the robot doesnot stop but infact blocks that particular axis and maintains the rest of the motion as per the input.
The idea what I had was to convert these cartesian inputs into axis target values using kukas 'INVERSE' function and then use some logic to block certain axis if its is near the limit.
Any other ideas how I can achieve something like this?