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+--- Thread: Control a robot by sending joint configuration (motors angles) J1->J6 (/Thread-Control-a-robot-by-sending-joint-configuration-motors-angles-J1-J6)
Control a robot by sending joint configuration (motors angles) J1->J6-h.sciascia-06-03-2021
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 !
RE: Control a robot by sending joint configuration (motors angles) J1->J6-Vineet-06-03-2021
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/examples.html#csv-file-to-program-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
RE: Control a robot by sending joint configuration (motors angles) J1->J6-h.sciascia-06-08-2021
Great thanks !