Troubles with Arm Configurations
I'm using an IRB 120 robot and I'm trying to reorient my Tool, however I'm getting an error that the position is not reachable. This is occuring because the robot does not want to change arm configurations from J5 up (in reference to J4) and J5 down (In reference to J4). Im looking to have the robot move X Degrees in Y, however when i enter a number that would make the need to flip configurations it attempts to rotate J4 entirely around. Is there any way to get around this?