YuMi's unsynchronized movements + SearchL
I was in believe that searchL wouldn't work well with my Yumi setup, where both hands do their own thing without synchronization. I did a little experiment in robotstudio with VC and it seems to work fine. So is this just a virtual controllers thing, or would it work with real controller as well? At this moment, I don't have real robot to play with.
I'm looking for solution for two things for both arms, and searchL could be the answer in both:
1) Picking part with vacuum gripper. Moving tool downwards (searching) until signal that tells vacuum is created comes on, and movement can be stopped.
2) Optimizing cycle times on shared areas in robot's workspace. There's areas where both arms can't go same time, and if one arm is in this kind of area, another will move to waiting point, if it needs to get to the area as well. I'd like to terminate this movement and proceed right to the area, if it comes free while moving to the waiting point.
Thanks for help!