03-17-2020, 12:13 PM
嗨,但,
You must take care that a code like Gmm Xxx Yxx Zzz Aaa B.0 Ccc linked to a Comau robot will move tool as respect to a plane perpendicular to 5'th joint and paralell to an imaginary plane passing wrist <->4'th joint center axis and 0-deg 6'th rotation joint axis, therefore : command B.0 cannot be executed.
I try myself in C++ to get same approach but all values must be computed from base plane and compensate every angle of joints 1..3 in joints 4..6. So far I am stuck at 5'th joint calculation.
I accept that Euler angles, specified before, put lot of [if statements in program ] specially after 3'rd joint . Your single-man-job is quite hard to end.
You must take care that a code like Gmm Xxx Yxx Zzz Aaa B.0 Ccc linked to a Comau robot will move tool as respect to a plane perpendicular to 5'th joint and paralell to an imaginary plane passing wrist <->4'th joint center axis and 0-deg 6'th rotation joint axis, therefore : command B.0 cannot be executed.
I try myself in C++ to get same approach but all values must be computed from base plane and compensate every angle of joints 1..3 in joints 4..6. So far I am stuck at 5'th joint calculation.
I accept that Euler angles, specified before, put lot of [if statements in program ] specially after 3'rd joint . Your single-man-job is quite hard to end.