Hello guys,
I need to know how to get the robot configuration (F/N,U/D,T/B) when i have all the robot axis (j1,j2,j3,j4,j5,j6). are there any math fomulas to be referred, thanks
Fanuc axis configuration
- franktly
- Thread is Unresolved
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Look into eg. Handling tool manual - it's exaplained when is N, U etc. Look below.
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Look into eg. Handling tool manual - it's exaplained when is N, U etc. Look below.
it will be better if there are some math expressions to explain the relationship
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N - J5 <0
F - J5 >0
U - J3 < 90
D - J3 > 90
T/B - More complicated than n/f and u/d
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I'm not sure on this, but I think T and B could be represented by whether or not the wrist center point is positive or negative of the J1 transform.
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