08-11-2022, 01:35 PM
Hi,
When i'm generate collision-free map using Kuka robot with the joint axial limit, the map is always limited to the angles between the negative value and its positive equivalent for the first axis.
For example:
possible movement in the first axis: -10°/90°
map calculated for the range: -10°/10°
I am attaching a screenshot, illustrating the problem. For comparison, an ABB robot that works as expected.
Additionally, it is not possible to calculate a map for positive values (eg 20°/90°) for the first axis at all.
Thank you for your help,
Philip.
When i'm generate collision-free map using Kuka robot with the joint axial limit, the map is always limited to the angles between the negative value and its positive equivalent for the first axis.
For example:
possible movement in the first axis: -10°/90°
map calculated for the range: -10°/10°
I am attaching a screenshot, illustrating the problem. For comparison, an ABB robot that works as expected.
Additionally, it is not possible to calculate a map for positive values (eg 20°/90°) for the first axis at all.
Thank you for your help,
Philip.
