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+--- Thread: Preferred joints for start point (/Thread-Preferred-joints-for-start-point)
Preferred joints for start point-SamuelEStreamline-08-04-2022
Hi,
I have synchronized motion between a 6-axis robot and a 2-axis turntable. I need to set up joint targets at the preferred start location for a curve follow project.
I need to calculate the cartesian x, y, z coordinates of the tool path start point.
Is there a way to extract these coordinates from the simulation? Since RoboDK is able to render the toolpath visible, the start/end coordinates of the toolpath should be stored somewhere in the program.
How do I extract these coordinates from through the API?
I have attached an image for clarification.
Thank you,
Samuel
RE: Preferred joints for start point-Albert-08-05-2022
You should be able to call JointLimits on a program and this will return the start and end joints of a program respectively:
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Item.JointLimits
I believe this behavior is not documented but we won't remove this feature in future versions.
RE: Preferred joints for start point-SamuelEStreamline-08-06-2022
Hi Albert,
JointLimits() is an interesting method but I am not looking for the robot joint limits for this problem.
I am trying to retrieve the cartesian x, y, z coordinates at the start point of a curve follow project. Is there a way to do this without having to develop equations?
I tried to attach a picture to help explain.
RE: Preferred joints for start point-SamuelEStreamline-08-29-2022
(08-05-2022, 12:21 PM)Albert Wrote:You should be able to call JointLimits on a program and this will return the start and end joints of a program respectively:
//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robolink.Item.JointLimits
I believe this behavior is not documented but we won't remove this feature in future versions.
Hi Albert,
I realize now after talking to Jeremy that you DID answer my question. I just did not understand fully understand how JointLimits was supposed to work. My apologies.
RE: Preferred joints for start point-Albert-08-30-2022
Great, thank you for letting me know!
In the future, if you have sample code it may be easier to understand each other with a simple script and work on a small proof of concept.