10-19-2021, 12:52 PM
Hi Keisuke,
RoboDK supports importing simple robot program files. Your program contains inverse kinematics calculations that are not recognized by RoboDK. In your specific case, you could replace the inverse kinematics calculation by their corresponding pose targets. Example:
RoboDK supports importing simple robot program files. Your program contains inverse kinematics calculations that are not recognized by RoboDK. In your specific case, you could replace the inverse kinematics calculation by their corresponding pose targets. Example:
Code:
You could manually change it to this:
movej(p[-1.479524814060909, -1.7004887283586072, -2.2363309091562567, -0.798154264675464, 1.5980294373670005, 0.09018009372375337], a=1.3962634015954636, v=1.0471975511965976)
Instead of:
movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)