Hello!
Ive been trying to learn VC for about 2 weeks now and while im working with robotic arms im experiencing issues with the pose of the arm after making the point-to-point motion statements.
I will try to explain using some pictures from an experiment i did just now:
Here i am making the first statement for the robot. This is the first pose in a series of three.
https://www.dropbox.com/s/9ufo3w1i8k8zm35/VisualComponents.Engine_2017-10-25_20-25-09.png?dl=0
Here i have made a second statement.
https://www.dropbox.com/s/q0bubf9qc475hv4/VisualComponents.Engine_2017-10-25_20-25-31.png?dl=0
This is the third.
https://www.dropbox.com/s/aja5r29pyzo2xkx/VisualComponents.Engine_2017-10-25_20-25-51.png?dl=0
I put these movements into a while-loop and i run the simulation. The movements work as they should, that is that the arm will move from 1-3 without any strange issues like rotating 360 degrees on one or more axis.
I remove the while-loop and i start adding some logic for the movement (sensor signal, gripper signal) and suddenly one of the poses (the last one) is distorted, in lack of a better word…
https://www.dropbox.com/s/cvqypm0f0fk23zx/VisualComponents.Engine_2017-10-25_20-29-47.png?dl=0
Ive taken care to include the jogscreen so that we can see the parameters for all axis and i noticed that the “Configuration” field above the axis has changed.
Why does this happen? Is it something im doing wrong or is it a bug in the software?
As i mentioned earlier this is happening fairly often, it seems to happen if one or more joints are close to their limits but im not sure.
Thanks for reading and hopefully i can get an answer from someone…