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+--- Thread: Intermediate arm configurations between targets (/Thread-Intermediate-arm-configurations-between-targets)
Intermediate arm configurations between targets-bstyczen-02-07-2022
Hello,
我们有一个自定义构建6自由度的手臂。我们创建了自定义Generic Post Processor but when we generate program there are onlyMoveJandMoveLwith pose target or arm configuration.
How to extract all intermediate arm configurations between targets?
Best regards,
Bartek
RE: Intermediate arm configurations between targets-Olivier-02-07-2022
RoboDK is not designed to emulate a robot controller, only to simulate.
In the joined example, the python script read the position of the robot on every tic and output it to the mirror robot. The output are the joint values and cartesian position. With this you can get the intermediate position between targets.
However, you might have some issues with the speed control if you are trying to control a robot directly with this method.
RE: Intermediate arm configurations between targets-bstyczen-02-08-2022
(02-07-2022, 05:26 PM)Olivier Wrote:RoboDK is not designed to emulate a robot controller, only to simulate.Thank you for the answer, I will look into this solution.
In the joined example, the python script read the position of the robot on every tic and output it to the mirror robot. The output are the joint values and cartesian position. With this you can get the intermediate position between targets.
However, you might have some issues with the speed control if you are trying to control a robot directly with this method.
I found in RoboDK API functionInstructionListJointswhich returns joint values and it is also possible to calculate according to time.
What I did is the following.
I created program called "Prog1" in RoboDK and then run following Python code:
Code:
program = self.RDK.Item('Prog1')
filesave = 'output.csv'
# flags=4 because we want to get trajectory with constant time interval between trajectory points
message, _, status = program.InstructionListJoints(save_to_file=filesave, flags=4, time_step=0.01)
The result file looks like valid trajectory so maybe that is the solution.