How to calculate the biggest possible area in a plane that a robot can reach using RAPID?
I'm working on an application where (in short) I want to use a robot (IRB 140) to paint on a plane that I define. While testing with RAPID where I move the `tcp` in a square for a fixed X-value (world coordinate), I was able to detect the reach by simply changing the y and z values in my code. The code that I used to move the `tcp` around looks something like this:
TASK PERS wobjdata myWobj:=[FALSE,TRUE,"",[[400,0,400],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];...
MoveL Offs(myRobtarget,0, -680, -300),vmax,z0,tool0, \WObj:=myWobj;
MoveL Offs(myRobtarget,0, 680, -300),vmax,z0,tool0, \WObj:=myWobj;
MoveL Offs(myRobtarget,0, 680, 220),vmax,z0,tool0, \WObj:=myWobj;
MoveL Offs(myRobtarget,0, -680, 220),vmax,z0,tool0, \WObj:=myWobj;
The area I found is quite ok but my approach feels like a poor mans job. By changing the X value of my `myRobTarget` highly influences the size of the area/plane that I can move into. Using the values above gives me good results but does anyone a better solution to find the best coordinates?