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how make the robot take the shortes route

  • EPAN
  • April 17, 2024 at 11:19 AM
  • Thread is Unresolved
  • EPAN
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    • April 17, 2024 at 11:19 AM
    • #1

    hello

    i have a problem were the robot takes the longes way around when moving to my translation point i calcualte, the robot moves in degrees but the translationpoint have 2 posiable #points, on where jt4 is -174.479 and one were its 185.251, from on translation point

  • Alexandru
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    • April 17, 2024 at 12:30 PM
    • #2

    try to reduce the upper limit point and create a point using ULIMIT function.

    Then you can check if the JT4 angle of the desired location is > ulimit JT4 (-360degrees) or < ulimit JT4 (360 degrees)

  • EPAN
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    • April 17, 2024 at 3:36 PM
    • #3

    this is the pointed position:

    X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]

    -1510.000 -1338.289 -445.000 90.340 180.000 0.000

    and that have 2 # positions

    #1

    JT1 JT2 JT3 JT4 JT5 JT6

    -131.550| 75.765 | -76.967 | 221.210| 0.000 | 0.000

    and

    #2

    JT1 JT2 JT3 JT4 JT5 JT6

    -131.550 75.765 -76.967 -138.799 0.000 0.000

    were #2 is less movement, but it takes #1 all the time

  • kwakisaki
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    • April 17, 2024 at 6:44 PM
    • #4

    Joint angles will never take the shortest route as there is ONLY ONE possible route due to the joint angle start and joint angle finish = Joint displacement.

    You will need to use transformation values instead.

    View my channel at Industrial Robotics Consultancy Limited - YouTube

  • ShAdOwDrAgOnS
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    • April 29, 2024 at 2:47 AM
    • #5

    Why not just use a precision pose instead of a regular transformation to make the robot end up in the exact pose you want.

    A regular transformation is a point in space and the robot can reach it in multiple different ways especially if it's a 6 axis robot. It's denoted as X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]

    If you teach a pose with #location_name then it's a precision pose and the robot will always end up in that location in exactly the same pose since the values are denoted in Joint angles of each joint. eg .JT1 JT2 JT3 JT4 JT5 JT6 -131.550 75.765 -76.967 -138.799 0.000 0.000

    Also robot's are lazy, they take usually take the path with the least joint displacement by default unless specifically told other wise.

    If you are using calculated positions, just remember the can convert between transformations and precision poses but you'll need to reference it, else the robot assumes you are referencing to #here and creates a precision point closest to it's current position and thus uses the least joint displacement.


    I'll just leave this here , happy experimenting:

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