Hello,
I'm facing a problem with the limitation of +/-175º on the 7th axis.
The task I wish to accomplish is to grip a part that could be in any position +/-180º
I have a camera to get position ans alpha of the part.
I construct my Frame with .setAlpharad()
My issue is when the alpha part is in the 10º of the dead zone of the axis 7, robot throw me an error for impossible ptp move due to axis 7 limitation.
But manually, i'm able to rotate the arm (R) to "move" the limit of joint 7. So it would be possible to grip the part.
How could I programaticaly do this, or tell the robot to reach my frame whatever arm rotation is needed?
I know that I could grip the part, rotate it, for example, 90º to get off the dead angle. But this this not the solution i'm looking for.