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AZalmanov
Posts: 19 Apprentice
Is it possible to change the pose used to aproach waypoint? |
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/ Most recent by Michael_Perez
in Programming
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5 comments |

in Programming
I believe the issue I'm experiencing is called a singularity. I set my waypoint using a pose that keeps the joints fairly far from their limits. Sometimes when I run the program it moves the way it was programed and other times the robot will collide with itself by taking a different pose to reach the same waypoint. Is there a way to mitigate this. I've tried both move l and move j and a combination of both, I have also tried adding more waypoints. Thank you all in advance.
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Could you send us a video so we have a better understanding of what is happening? You said you have the same problem when using moveJ?
Integration Coach
Here a quick tip.
You need to avoid the singularity points on the UR.
Also, everytime you change the position of the robot use a MoveJ.
What kind of alarms you are having with your program?
Michael Perez
Engineering Manager
Campbell & George Co.
A division of Buchanan Automation Inc.
I added a few more waypoints and used blend radiuses. Everything is working except I get strange jerks if my speed is too fast. Still need to tweak a little. I have been trying to upload to YouTube all morning but I believe our app control doesn't allow it.
Michael Perez
Engineering Manager
Campbell & George Co.
A division of Buchanan Automation Inc.