Long and short rotation when moving through cartesian space

    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?

    Can you use a Relative Position Waypoint to accomplish your goal? If not, you should be able to use the get_inverse_kin function, which allows you to pass in a list of joint angles you want your final position to be close to. This should be easier than developing your own quaternion interpolation function.


    You could set up a Position Range limit (in Safety Configuration) on the last joint to make sure it doesn't rip your wiring out, but I believe that would just stop the program rather than find a different route.

Advertising from our partners