iiwa 7th axis algorithm?

[evo85210]

Just wondering if anyone is using iiwa with PRC?
I've been setting the 7th axis (E1), by using galapagos by minimizing the run time and it works fine.
but as the project gets more complicated, the longer it takes to calculate the optimal angle.
Currently my project have 5129 targets, having to provide and calculate a E1 for every target is proving to be too time consuming.
So i'm wondering if anyone have another solution?

[Johannes @ Robots in Architecture]

Hello,

What parameters are you optimizing for? I had some success having the additional axis to face away from the target, similar to https://forum.robotsinarchitecture.org/index.php/topic,822.0.html
But of course that cannot optimize for collisions etc.
Maybe you can constrain it so that it only optimizes the positions that have problems?

All of that is very application-specific, which is why we don't have an automatic solver for it at the moment. But any ideas are welcome!

Best,
Johannes

[evo85210]

So basically run the iiwa like a 6 axis robot, and only rotate the 7th when there's a problem.
does analysis component tell me which targets have problems? or I'd have to check that manually?

-----
side question: is there any simple HRC demo programs? like run a straight line and if it detects it bumped into something, it stops?

[Johannes @ Robots in Architecture]

It should tell you that, yes. Consider disabling the interpolation to get less values (but also a bit less simulation accuracy).
Best,
Johannes