Adjustment of joint angles

larstoc

Hey,

I have been trying to make a startup procedure which initializes the angles of the individual joints of the robot. I haven't found any way to change them in the technical reference instruction sheet. Is there a smart way to do this?

PerSvensson

Take a look at the instruction MoveAbsJ and JointTarget data

larstoc

Thanks a lot, that was just what I was looking for. 

larstoc

I have a followup question, is there any way to directly get the coordinates (trans/rot) of a joint in the robot? Mainly the wrist which is defined as tool0. My initial thought was to make a robtarget which was initialized to be the same as the wrist and continously update this variable, but is there already a function that does this? The data is to be used for the creation of a graph which plots the data we get from the robot arm against our reference data to see how well it follows. Thanks in advance!

sturner

Hi Check out the function CRobT... you can use the optional arguments to state which tool and object you require, without these added the active data's will be used 

p1 := CRobT(\Tool:=tool0\WObj:=wobj0);