Interface
One robot configuration defines a specific state of the robot. Changing the configuration requires crossing a singularity. Robot controllers can’t cross a singularity when a linear movement is being made (a joint movement would be required for that).
换句话说,为了完成一个线性运动tween two targets the robot configuration must be the same for the complete movement, including the first and last points.
Right click a robot and selectChange configurationto open the robot configurations window. It is also possible to open this window by selectingMore optionsin the robot panel.
For a standard 6-axis robot there are typically 8 different configurations for any position of the robot if we assume each robot axis can move one full turn. In practice, joint limits can be more or less constrained depending on the robot. Therefore, it may be possible to have from 1 to more than 100 different robot configurations for a specific location depending on the robot.
一个机器人配置定义了一个特定的方式(如sembly mode) of reaching a position with the robot. For example, the robot can have the elbow up or the elbow down (Up vs. Down, or U/D), at the same time it can be facing the target or the base can rotate 180 degrees to reach the target backwards (Front vs. Rear, or F/R). Finally, joint 5 can flip by switching the sign at the same time axis 4 and axis 6 compensate for that move (Flip vs. Non-Flip, or F/N). In total, this provides the 2*2*2=8 configurations.