05-07-2019, 01:56 PM
Hi,
I'm using a 6dof KUKA arm (KUKA KR6 R900) and due to a mechanical constraint, I don't want joint j6 to move.
I didn't see a direct command to "freeze"/ignore this dof, so I tried to set the joint limit to [-5,5].
This didn't work since MoveL/MoveJ don't always succeed.
What I really want is that the motion planning will just ignore this dof.
Is there a way to tell the arm to just ignore joint j6 all the time? (actually look at the arm as a 5 dof arm)?
(we have the professional license if it makes a difference)
Thanks,
Yotam
I'm using a 6dof KUKA arm (KUKA KR6 R900) and due to a mechanical constraint, I don't want joint j6 to move.
I didn't see a direct command to "freeze"/ignore this dof, so I tried to set the joint limit to [-5,5].
This didn't work since MoveL/MoveJ don't always succeed.
What I really want is that the motion planning will just ignore this dof.
Is there a way to tell the arm to just ignore joint j6 all the time? (actually look at the arm as a 5 dof arm)?
(we have the professional license if it makes a difference)
Thanks,
Yotam