Dynamically Choosing RobConfig

MechatronicsStudent

Hi All

I am updating a robtarget with new position data, at first I had orientation errors but those have been solved using OrientZYX, now when my program runs I get 'Joint out of Range' Error due to the robot picking a difficult configuration to move in.

Is there a way of dynamically choosing the easiest (minimal movement from the last configuration) configuration for each robtarget?

Many thanks