The robot UR10 will perform the shortest rotation possible when using movel script commands.
Due to wiring limitations of the tool mounted on the robot flange, I would like to limit the motion of the last robot joint to a certain range.
This means the robot should not always perform the shortest rotations possible, but instead perform the longer rotation which allows it to stay in the desired range.
Mathematically i would perform this by quaternion interpolation to determine the long and short rotation paths, however this would require me to implement quaternion math functions in urscript.
Is there default a way to force long rotation when moving through cartesian space with a UR10 robot?