Is Reachable

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1

Is there a way to ask the robot after it get to one position, if it possible to move to another position in Cartesian coordinates (RobotTarget) without moving the robot ?

And if the robot answer “Yes” to get the joint values of the new position ?

Avi Cohen

2

Look the post

http://forums.robotstudio.com/forum_posts.asp?TID=5973&KW=isreachable&PID=17557#17557

Mika

3

thanks Mika for the example ?

As I understand the function like “CalcJointT” is part of RobotWare

Do you know if it possible to access them from PC SDK ?

regards

Avi

4

The PC SDK does not have such features in itself.

Well, you could always tell it to do something and then let it shift data back. With the reservation that I don’t know what you want to accomplish, but I’ve seen applications where they use RobotStudio and a Virtual Controller for that. As in sending positions to the VC, the VC tries to execute them and run the results back. Then the PC SDK stores the result which is then run as a whole simulation before trying it out at the real robot.

5

Thanks john,

I have 2 questions regarding it.

  1. Can I perform something like CalcJointT from PC Sdk?

  2. I have a set of targets in Cartesian coordinates, I need to ask for each target the robot if he can reach to this position (without moving it), if robot answer “YES”, convert the target from Cartesian to joint**,** if robot answer “NO”, change the configuration and ask again, until I get “YES” for all the points, than I need to build a module with a procedure that run between these points, load this module to robot, and run it. What I need to know how can I ask the robot if he can reach to a target without moving it?