switch posture halfway through

Started by AiSard, September 19, 2016, 12:29:05 PM

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Is there a way to switch posture using only LIN movements (no PTP)?
either using just PRC, or adding something to the KRC code maybe?

i.e. the first 10 movements I want it to be in 110 configuration, but the second set of ten movements I want to be in 010 configuration? something like that?


Johannes @ Robots in Architecture

To change the posture, a robot with six axes has to leave the straight path, which LIN movements cannot do. So for changing the posture, you would need to use a single PTP or axis movement in between, unfortunately.