05-24-2020, 11:57 PM
Hi Albert and Junwon,
I have a related issue. I believe that Junwon wants to change the joint range from -167->167 to 12->348 because the robot motion for the PF series is incorrect. The forearm should be able to swing under the shoulder through the "tucked" position, but instead this path is out of range.
The Precise documentation specifically lists it as -167 to 167, so I believe that this is actually what the values should be, but we want 0 degrees for joint 3 to have the forearm "tucked" rather than "sticking straight out".
Does this make sense? I think my suggestion is how it should be fixed, but if it can't be, then I'll have to do the same thin that Junwon wants to do. The unfortunate thing is that then whatever is generated from RoboDK won't match a real PF robot.
Thanks!
I have a related issue. I believe that Junwon wants to change the joint range from -167->167 to 12->348 because the robot motion for the PF series is incorrect. The forearm should be able to swing under the shoulder through the "tucked" position, but instead this path is out of range.
The Precise documentation specifically lists it as -167 to 167, so I believe that this is actually what the values should be, but we want 0 degrees for joint 3 to have the forearm "tucked" rather than "sticking straight out".
Does this make sense? I think my suggestion is how it should be fixed, but if it can't be, then I'll have to do the same thin that Junwon wants to do. The unfortunate thing is that then whatever is generated from RoboDK won't match a real PF robot.
Thanks!