Best way to do intermediate point

    Hi there,

    I'm looking to go from right side of my robot to the left side passing by 1 or 2 intermediate point.

    Basicly I want to control the XYZ pos of this intermediate pos but I don't want to affect my J6.

    My first and last point are dynamic mean that I can have always a R different.

    So sometime it just make useless rotation from/to my intermediate point and it seems to slowdown the robot.


    Is there some way to check my J6 pick and J6 drop and put my intermediate point to half of his movement.

    ( I always point down my robot)

    XYZ position calculation is not the issue. The issue I'm having to calculate properly the J6 orientation. Sometime between my Indermediate and final my robot will make almost a 360 degree because I was near limit.

    Yes you can put a argument to R if you want. That not the issue here. In my case I would rather have kind of command that will "ignore" the R between the 2 movement.


    WJNT is for linear move only and just act like Joint movement. Will still go to the position that I have.

    FUT or NUT is neither configurations that affect/change my J6 rotation issue/ calculation.

    Quote from pegermain

    Yes you can put a argument to R if you want. That not the issue here. In my case I would rather have kind of command that will "ignore" the R between the 2 movement.

    My understanding is that you would like to either A, see no major difference in J6 rotation between your initial and intermediate positions, or B, when there is a rotation difference between the initial and final points, the intermediate position should cause rotation that would occur anyway so that extra wrist motion does not occur.

    In the case of A, you could simply pass the R-value of the initial position to the PR of the intermediate position.

    Example:

    L PR[1: Initial position]

    PR[2,6]=PR[1,6]

    J PR[2: Intermediate position]

    In the case of B, you could subtract the R-value of the initial position from the R-value of the final position to find a good R-value along that path to use for the intermediate position.

    Example:

    L PR[1: Initial position]

    PR[2,6]=PR[3,6]-PR[1,6]

    J PR[2: Intermediate position]

    L PR[3: Final position]

    Obviously this is oversimplified. You would need to tailor the code to suit the needs of your application.

    Hopefully this helps.

    For now, flipping is not really an issue.

    So what I'm trying now. I took this routine :

    Thread

    Fanuc- Pos2Joint

    Hello,
    I would like to get a Cartesian PR with UF, UT and then convert it to JPos with Pos2Joint.
    Do you have an example Karel?
    thank you. :help:



    it's my karel code no default or result

    BEGIN



    Pos_Actuel= CURJPOS(0,0)
    -- Recuperartion des entier de la routine TPE paramétrée
    GET_TPE_PRM(1,data_typ,data_init,data_real,data_str,STATUS)
    ValPrDebut=data_init

    --Recupe PR en cartesien
    Pos_Debut=GET_POS_REG (ValPrDebut,STATUS)
    Pos_UFrame=GET_POS_REG (60,STATUS)
    Pos_UTool=GET_POS_REG (61,STATUS)



    --Convertion pos cartesien…
    krugorr
    July 8, 2019 at 12:03 PM

    I make it for my starting point, my end point and my intermediate point.

    Then I do a mean on the J6.

    Take back my new intermediate pos in joint and put my J6 Mean into it.

    I still need to monitor but it seems to make it.

    Quote from pegermain

    Yes you can put a argument to R if you want. That not the issue here. In my case I would rather have kind of command that will "ignore" the R between the 2 movement.


    WJNT is for linear move only and just act like Joint movement. Will still go to the position that I have.

    FUT or NUT is neither configurations that affect/change my J6 rotation issue/ calculation.

    Take care when using the WJnt modifier. If the path will always be the same, it will always do the same thing, but if the points are modified or automatically calculated applying some offset you can run into issues if the new positition forces a config change (like from FUT to NUT or viceversa)

    The thing is that if the config needs to change, it will not perform a nearly linear path and instead J6 or even J4 may want to completelly rotate 180°, it will do a very weird movement and your tool may rotate almost 360° while performing the motion.

    So do not rely on this with vision applications or any other application where offsets are adquired by external means, only use it if that particular path will be always the same.

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