MoveL does not respect joints configuration可打印版本 +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API) +--- Thread: MoveL does not respect joints configuration (/Thread-MoveL-does-not-respect-joints-configuration) |
MoveL does not respect joints configuration-hugo.costelha-11-23-2022 Hi, Given the problem we had 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 RE: MoveL does not respect joints configuration-Albert-11-24-2022 I just got back to your other post. This is not a bug. The MoveL test function requires a pose as a destination target, not joints. You can't cross a singularity or change turn flags when doing linear movements, therefore, RoboDK will check if the movement can be done to your pose, not a joint target. You can check if the joints match your expectations. If not, a joint movement will be required afterwards. RE: MoveL does not respect joints configuration-hugo.costelha-11-28-2022 Hi Albert, thanks for your reply. Please check my questions below. (11-24-2022, 09:26 AM)Albert Wrote:I just got back to your other post. This is not a bug. The MoveL test function requires a pose as a destination target, not joints. While MoveL_Test only accepts a pose as destination target, MoveL accepts both a pose and a joints list values, (at least according to the documentation, and we have been using it as such). This is where I am suggesting that, in the worst case, the MoveL, when used with a joint list targe, should either have a parameter to force compliance, or a return value stating that the given joint list target is not reachable and a new one was given instead. Nevertheless,my main question now, is 2nd one of my post above, regarding the MoveL Python instruction, namely: "[...] 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?" Thanks and best regards, Hugo Costelha RE: MoveL does not respect joints configuration-Albert-12-01-2022 It is not possible to change configurations or joint turns with a linear movement. This means you would be crossing a singularity. When doing linear movements, the best way to plan a list of joint values you want to move to is to run a series of MoveL_Test and collect the joint values after each call. |