[h.sciascia]

Hello everyone,

I am a new user of RoboDK (trial version for now).
I was wondering if it's possible to control the robot by its motors angles position (configuration) and not its tcp position.

For example, I have a csv file with a lot of configuration (J1,J2,J3,J4,J5,J6).
I would like to read those ones and move the robot to these configurations.

Maybe the request was already on the forum but I did not find, and from a french user, it's not always easy to find the good words for a specific problem.

Thanks in advance,
Have a good day !

[Vineet]

Hello,

Using setJoints you can send the robot to any joint position. In your case, you can refer to the example here://www.sinclairbody.com/doc/en/PythonAPI/exam...rogram-xyz

And you can use setJoints as below to move robot:

Code:

from robolink import * # import the robolink library (bridge with RoboDK)
from robodk import * # import the robodk library (robotics toolbox)

RDK = Robolink() # establish a link with the simulator
robot = RDK.ItemUserPick('Select a robot', ITEM_TYPE_ROBOT) # retrieve the robot
robot.setJoints ([0, 90,-90,0,0,0]) # move robot to given joint position

[h.sciascia]

Great thanks !