Hi,
We are trying to simulate a 5-axis robot. This is similar to the articulated 6-dof configuration except that J4 rotation is not existing.
When we want to jog the robot in linear it can be jogged in Tool(X,Y,Z) or World(X,Y,Z) only when wrist is vertically up or down but limited jogging when wrist is at any other angle.
We are wondering if this is a problem in the kinematic calculation that we are doing or it is valid even physically. We do not have physical robot to check this.
Thank you.