10-29-2020, 08:19 PM
Hi Ed,
The answer is a bit of A and C.
You are now facing one of the most common issues in the field of robotics, singularities.
The first section of the path has a switch of orientation from down to up. This creates an alignment of joints 4 and 6 and mechanically prevents the robot from running a linear motion between the 2 points.
The solutions would either be to avoid crossing the plane, change the position of the curve, the orientation of the Camera with respect to the flange or change the starting configuration.
Have a great day.
Jeremy
The answer is a bit of A and C.
You are now facing one of the most common issues in the field of robotics, singularities.
The first section of the path has a switch of orientation from down to up. This creates an alignment of joints 4 and 6 and mechanically prevents the robot from running a linear motion between the 2 points.
The solutions would either be to avoid crossing the plane, change the position of the curve, the orientation of the Camera with respect to the flange or change the starting configuration.
Have a great day.
Jeremy
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