How to optimise robtargets rotation about their z-axes?

axel0143

Hi. For my trajectory i do not need my tool to have any specific rotation about the z-axis for any robtarget, i have used the "Align Target" feature for now. However, i would like to know:

Is there a good way to make sure my manipulator reaches each target with as little unneccessary rotation of my tool as possible?
or
Is it possible to make the trajectory ignore the z-rotation completely, and go with the simplest way to reach the target direction?

To clarify, i have calculated quaternions which point the z-axis of each robtarget the way i need and that is all i need from each target, not the rotation about z.

I really hope you can help me out. Thank you!

Adnan

Hi,

I think the best and easy way for the robot is if you Auto configure these targets and if some of these targets aren't the way you want adjust configurations. Locking axis isn't a good idea.