11-23-2022, 04:31 PM
Hi,
考虑到我们有问题with MoveL_Test (seethis post), we are using MoveL within a try/except block to determine if a linear motion between two joint configurations is possible. However, depending on the joint target, MoveL might move the robot to a different joint value than the one we specified, even though it represents the same target pose. In my view, this is a bug, given that we passed a joint list, not a pose. In the worst case scenario, I would expect the MoveL (python) method to have some parameter to determine (or prevent) this automatic change of target.
In summary, I want to leave here two questions:
Best regards,
Hugo Costelha
考虑到我们有问题with MoveL_Test (seethis post), we are using MoveL within a try/except block to determine if a linear motion between two joint configurations is possible. However, depending on the joint target, MoveL might move the robot to a different joint value than the one we specified, even though it represents the same target pose. In my view, this is a bug, given that we passed a joint list, not a pose. In the worst case scenario, I would expect the MoveL (python) method to have some parameter to determine (or prevent) this automatic change of target.
In summary, I want to leave here two questions:
- How can we make sure that MoveL moves to the given joint list target?
- If a MoveL to the specified joint list target is possible, are we guaranteed that it will go to that target using the given configuration? That is, can we be sure that, when RoboDK moves the robot to a different target (same pose, but different joint values) than the one we have given, does that mean that it is not possible to have a linear motion to the specified joint list target?
Best regards,
Hugo Costelha