Problem program circle move

haneulines

Hello everybody,

im trying to do a circle move with a UR3 but it doesn’t work.. I don’t understand the error.

can someone help me please ?

matthewd92

What is the pose of the center point?

jelms

@haneulines Unfortunately I don't speak French and google translate didn't help me. Attached is an example of a circle move similar to what I think you are attempting. I've seen joint limits and other general out of range errors when trying these. I did this on a UR5 virtual machine simulator.

matthewd92

I believe the error translates to the path is not reachable. With a UR3 there is limited range, if you can provide the pose of the center point it would be helpful

Loïc

Bonjour,

A priori le robot n'arrive pas à atteindre le premier point de votre cercle.

êtes vous sûr que votre point centre est exprimé en coordonnées cartésiennes (X,Y,Z,Rx,Ry,Rz) et pas en coordonnées articulaires (valeur axe par axe)?

Vous commencez par un déplacementP depuis un point de passage, avez-vous tentez de faire un déplacementA vers vos 4 points pour vérifier qu'ils soient accessibles?

haneulines

@matthewd92

Hello,

Attached the pose of the center point.

Maybe the problem is the function that I used for Movej ?

s t

haneulines

@jelms

I tried your program but it still doesn’t work... I think the problème here is the pose of the center but I don’t know why.

haneulines

Thank you everybody. I found the problem. Now it works !

jelms

@haneulines Can you share the solution for future people that may have similar issues?

haneulines

I tried @jelms 's program and it worked !

.

Program
   Robot Program
     r≔45
     r≔r/1000
     var_1≔p[0.2,0.2,0,0,3.14,0]
     var_2≔pose_add(var_1,p[r,0,0,0,0,0])
     var_3≔pose_add(var_1,p[0,r,0,0,0,0])
     var_4≔pose_add(var_1,p[-r,0,0,0,0,0])
     var_5≔pose_add(var_1,p[0,-r,0,0,0,0])
     MoveJ
       var_5
     MoveP
       var_5
       CircleMove
         var_2
         var_3
       CircleMove
         var_4
         var_5

My program works only with the MoveJ point (in bold).

Whitout it I had lots of error messages and I still don't know why..

Before, I was recording the position of the TCP manually, by using the freedrive command.

And then I tried to save the position by entering X Y Z RX RY RZ in the parameters of the TCP and it worked.