hi tammoj,
just run the app on the smartpad.
your bot goes home.
press the white button on the media flange and keep it pressed, the smartpad play "white" signal will light up, press the green play button on the smartpad.
now you can move the bot around freely, but you'll need to keep pressing the "white" button on the flange.
once you release it you'll need to press the green play button on the smartpad for the app to continue and the bot will got home.
Posts by workfive
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hi tammoj,
just run the app on the smartpad.
your bot goes home.
press the white button on the media flange and keep it pressed, the smartpad play "white" signal will light up, press the green play button on the smartpad.
now you can move the bot around free, but you'll need to keep pressing the "white" button on the flange.
once you release it you'll need to press the green play button on the smartpad for the app to continue. -
In the end this means the iiwa is capable to move to this specific frame with the use of the redundancy joint J3.
My question is why the iiwa is not using this joint J3 by default and how to enable "robot.move(ptp(frame))" to take also the joint J3 in account.Hi Tammo,
well actually the answer to your question is on page 88 of the manual:"The lightweight robot has 7 axes, making it kinematically redundant. This means that theoretically, it can move to every point in the work envelope with an infinite number of axis configurations."
It would therefore be quite problematic if the robot began deciding how to get there on its own, hence redundancy. However it seems some of the ideas here could be attempted to resolve the issue.
Best,
Chris