calculate confData from pose

newform

Dear All,

We are wondering if there is a function in Rapid or
RAB library that can be used to calculate all available configurations
given a robot pose?

We check Rapid reference manual and cannot find one. Hopefully you can help me. Many thanks
Feng

carlosmtz2000

Hi,

 

Not in RAB, but take a look of the RAPID instruction CalcJointT.

 

BR

newform

Thanks, BR

CalcJointT (Calculate Joint Target) is used to calculate joint angles of the robot axes and
external axes from a specified robtarget data, where robtarget = [pose, confdata];

The robtarget data should contain confdata that is what we are want to get. Without confdata, how can CalJointT calculates the joint angles? Please comment if I am wrong. Thanks

carlosmtz2000

Hi ...

 

Sorry .. this instruction could be used to validate if the configuration is valid. You can get the configuration from the current position of the robot, but all this depends on what you really want to achieve. If I am right, RobotStudio is the only tool that could provide you with all the available configurations for a robtarget.

 

You can iterate inside RAPID in order to find a valid robot configuration.

 

Best Regards

newform

Thank you, Carlos,

I understand that. I will try.