CalcJointT CalcRobT
Hi,<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />
I want to add some information to my
previous question.
I use the following code to convert
from Cartesian to Joint and from Joint to Cartesian
IF toJoint THEN
TPWrite "Convert from cartesian to
Joint";
jointValue := CalcJointT(cartesianValue, Cognitens_Cam
WObj:=wobjBMW);
ELSE
TPWrite "Convert from Joint to
cartesian";
cartesianValue := CalcRobT(jointValue, Cognitens_Cam
WObj:=wobjBMW);
ENDIF
What I find out is that: if I get from
robot his current Cartesian position, and try to convert it to joint I get error
(ERR_ROBLIMIT)
If (for the same
current position) ask the robot his current position in joint values, and
convert it to Cartesian
I succeed in conversion, and what interesting is that the result in Cartesian have
the exact same values which I got at the first place the same valuse that failed
to convert to Joints values (including the same configuration)..
Any one have the same problem ? is there a workaround for that problem ?
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