11-05-2021, 08:54 PM
Hi Maarten,
This is a very good question.
I think you are understanding the situation pretty well.
When you are moving the frame, all the cartesian positions of all the targets are recalculated, but it's not the case for all the joint values.
I think it was a performance choice we did at some point as we would have to recalculate the invert kinematic of a potentially very large number of targets at once.
You can update the Robot Joints using two different methods.
1- Right-click the program -> Recalculate targets
This will recalculate the joint value of all targets in the program.
2 - Select the target in the tree (this will bring the robot to the target, make sure the right tool and right frame are activated) -> Right-Click the target -> Teach Current position.
Jeremy
This is a very good question.
I think you are understanding the situation pretty well.
When you are moving the frame, all the cartesian positions of all the targets are recalculated, but it's not the case for all the joint values.
I think it was a performance choice we did at some point as we would have to recalculate the invert kinematic of a potentially very large number of targets at once.
You can update the Robot Joints using two different methods.
1- Right-click the program -> Recalculate targets
This will recalculate the joint value of all targets in the program.
2 - Select the target in the tree (this will bring the robot to the target, make sure the right tool and right frame are activated) -> Right-Click the target -> Teach Current position.
Jeremy
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