I am trying to control which way my wrist rotates in PalletTool. to prevent hose wrap up. I have tried searching the forum but the search tool is garbage. what tools are available and how do I use them to change wrist rotation direction?
Wrist Rotation
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MooseHorns -
February 4, 2019 at 5:38 PM -
Thread is Resolved
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There are a couple of method that are used to avoid moving into a possible issue like wrapping hoses or wires. The simplest method I can think of is forcing a move that is part of the direction you want it to move to. So say your wrist is at 5° and your pick up location is at 345°. Normally the robot would try to go to the position by spinning counter clockwise as it's only 20° that direction. So I would move to 180° which the shortest path would be to move clockwise 175°. Then allow the robot to move to the desired 345°. Since the clockwise motion to 345° is only 165° it will continue to go clockwise to the position that is desired.
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I am not that familiar with pallet tool, but I bet you will need to use/modify your turn numbers. I made a video going over them:
https://www.youtube.com/watch?v=QVRqgc2ak4k
Keep in mind that linear move do not honor turn numbers, to make them honor them, you will have to use the wrist joint motion modifier. Be careful with it though, wrist joint will change your path.
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Nation's got a great reply!
Also, for Joint moves, you can try the MROT function at the end of your position you're moving to. This is Minimum Wrist Rotation. It's a free software option and it doesn't flip the wrist to match the configuration of the Joint position.
Also, to Nation's point, Joint moves move the robot to that configuration (Turn numbers and also NUT) where a linear point ignores the turn numbers.
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