Set priorities between robot joints!

TiborGTiborG France ✭
in RobotStudio S4
Hi,

I'm trying to find a solution to tell RobotStudio that I want to have the 6th joint of my robot used only in the case where it is not possible to do it without?
Any ideas?

Best regards,
Tibor Gyorgy
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Comments

  • plewandowskiplewandowski Poland ✭
    You mean when robot is going through singularity? If so i guess you should read something about RAPID SingArea command
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  • TiborGTiborG France ✭
    Not only when going out trough singularities; I have defined targets which can be easily reached by the robot when the 6th joint also is used but I want to reach them keeping the 6th joint at 0° (not always possible but in most of the cases). I red something about SingArea, I think it can be a solution. Thank you! 
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