I am seeing a disconnect between the simulation and the movement of the IIWA movement when attempting to draw multiple circles.
When creating a CIR movement on the IIWA, my recollection of the proper point order to pick is start (point 1), end (point 2), aux point (aux point).
In Kuka PRC, if I input that point order, the simulation does not show the correct movement, but if I input the points as start (point 1), aux (aux point), end (point 2), the simulation looks correct.
On the robot, the opposite happens. If I input the points as start (point 1), aux (aux point), end (point 2), the robot back tracks when repeating the arc movement to form circles. If I input the points in the order start (point 1), end (point 2), aux point (aux point), the robot moves correctly.
Hello Jason,
That's pretty strange, especially considering that we definitely did use CIR movements in a few of our projects - but that was also a few software versions ago, so who knows what changed. But the behavior in KUKA|prc should be to provide three planes, out of which the start, aux, and end planes are generated. I don't have an iiwa anymore so I cannot test that myself, but if you want to switch the frames you need to look at the following sections of the PRC_CORE.java file:
AbstractFrame frm = cmd.cirMove.frame;
AbstractFrame auxfrm = cmd.cirMove.auxframe;
and change it to...
AbstractFrame frm = cmd.cirMove.auxframe;
AbstractFrame auxfrm = cmd.cirMove.frame;
There should be two occurrences of that line.
Best,
Johannes