Mandate UR Joint motion direction

T800_412

Hello Pros. Is there a way to mandate the rotation direction for UR robot joints in a move node? I have a program where the wrist is inverted to hold a part upside down. When Going back to the previous position, the joints sometimes want to travel in the direction that brings them to their end of travel stops, rather than back in the direction they came from to get where they are. I trying to add more waypoints with smaller angular change, but this causes the UR to sometimes pause between waypoints.

David_Gariepy

Hi @T800_412
You could add blend to your waypoints to avoid the pause between waypoints, or depending on the required move and if you have enough space, you could use movej instead of movel.

matthewd92

Unfortunately, its trying to determine the fastest way to get to the joint position you are requesting, it can be quite frustrating at times.  What I have found is if you can add some points just so that there is not a solution that is faster than the direction you actually want it to go it will work.  Then use as large a blend as you can without throwing any warnings in the log file and you will avoid the start-stop motion.