Left ArrowBack to discussions page
T800_412T800_412 Posts: 51 Apprentice
edited May 2018 in Programming
Does anyone have example programming, or a good resource for developing a subroutine for a UR10 to move home safely, without hitting any objects, including travel stops or self collisions?

I have an application where the UR10 is making a few complex moves that curl and twist the arm in difficult shapes, as well as some where the gripper is under obstacles. I am trying to develop a subroutine, where if there is a power fail, or some other problem that causes the robot to stop, it can use IF or SWITCH statements (or something) to get out and return home. I was thinking I would do some sort of get actual TCP pose, compare that to known locations (i.e. within a range) and follow waypoints out based on that. I also need to do this without dropping a part, if it is in the gripper when the stop occurs. I know I can come up with something, but maybe more complex than needed, if someone has already figured out how to do this?

Best Answer


Sign In or Register to comment.
Left ArrowBack to discussions page