We have made a pretty big program in Rapid that we use on many different robots. The program is responsible for robot control in a vision application. Once in a while we encounter a robot with parallel linkage, i.e. the axis 3 servo is next to the axis 2 servo, and the servo pulls a bar that goes up to joint 3, like this:
Every time we encounter one of these robots I have to change the program, because of how the kinematics works on these robots (joint angle of axis 3 is dependent on joint angle of axis 2).
So I was wondering : Is there a way to ask the robot software whether axis 2 and 3 are linked like that? Is there a system variable that has this information? In that case the program could have different cases depending on whether the type of the robot, and I could solve the problem once and for all.
Thanks in advance!