Author Topic: axis errors for continous circular movement  (Read 98 times)

ra

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axis errors for continous circular movement
« on: December 04, 2019, 10:15:27 AM »
Hello Johannes,

We are trying to achieve a tight continuous circular movement and have come across a couple of issues – the 4th and 6th axis are in error throughout the motion, with apparent  "collisions / unreachable positions" …any help would be fantastic.

Best,
Raisa

Johannes @ Robots in Architecture

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Re: axis errors for continous circular movement
« Reply #1 on: December 04, 2019, 10:37:32 AM »
Hello,

The iiwa is very constrained within its reachability, if you change the initial posture from 110 to 010 it should work.
The setting is located in the Advanced Settings, in the Start-/Endposition section.

Best,
Johannes

ra

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Re: axis errors for continous circular movement
« Reply #2 on: December 04, 2019, 10:41:22 AM »
Yes, that solved the issue...many thanks!!

Raisa