Hello,
Could you please help me.
I am testing on a kuka krc4 robot.
I tested several configurations to pass the singularities like $ CP_VEL_TYPE or $ ORI_TYPE = #JOINT or $ SINGUL_POS [].
For these 3 variables, I can tell you the difference in behavior.
But with $ SINGUL_STRATEGY I can't seem to see the difference.
If in Option.dat I put 1 or 0, it doesn't change anything.
My program is very simple:
PTP XP1
LIN XP2
from XP1 to XP2, I go through a singularity $ SINGUL_DIST [3] at 0.2.
but the robot does not apply orientation to pass the singularity.
Do I go about it badly to highlight it?