[rene07]

Hello,

I am new to robotics and RoboDK so this might be a stupid question, but i cant seem to figure out how to correctly use movej with the python api. It works as first glance but when i look into the robot programm all the joint values are the same.

when im refering to targets that i made in robodk with RDK.Item it works somehow.
Here is my code - im working with kuka robot:

Code:

robot = RDK.Item('KUKA KR 10 R1100 sixx', ITEM_TYPE_ROBOT)
prog = RDK.Item('ProgGeneriert', ITEM_TYPE_PROGRAM)
frame = RDK.Item('KUKA KR 10 R1100 sixx Base', ITEM_TYPE_FRAME)

Target = RDK.AddTarget('Target ', frame)
XYZABC = [500, -700, 1000, 0, 0, 0]
Pose = KUKA_2_Pose(XYZABC)
Target.setPose(Pose)
prog.MoveJ(Target)

Target2 = RDK.AddTarget('Target2', frame)
XYZABC2 = [600, -800, 1000, 0, 0, 0]
Pose2 = KUKA_2_Pose(XYZABC2)
Target2.setPose(Pose2)
prog.MoveJ(Target2)

When i generate the robot Programm the joint values are always the same (see attachment)
I hope someone can find whats wrong - thanks in advance!

Regards,
René

[Sam]

You are using a Cartesian Target with a MoveJ. Can you try with the following at the end?

prog.setParam('RecalculateTargets')
prog.Update()

The best approach would be to use SolveIK to set the joints on the Target instead.

[rene07]

You are using a Cartesian Target with a MoveJ. Can you try with the following at the end?

prog.setParam('RecalculateTargets')
prog.Update()

The best approach would be to use SolveIK to set the joints on the Target instead.

This worked - thanks a lot!

Regards,
René