RWS endpoints "joints-from-pose", "joints-from-cartesian" and "all-joints-solution"

Developer Tools
1

Hi!
Has anyone got those RWS functions working correctly?
And yes, I know about required conversions millimeters ←→ meters, radians ←→ degrees.

“joints-from-pose” will return error “An argument specified by the client is not valid for this type of operation”. Seams that body description on API reference pages is incorrect so I could not even test it.

“joints-from-cartesian” and “all-joint-solutions“ both will return (same) incorrect values as if kinematics based on whitch conversion is done is different from my actual robot in project. I did also try same functions from AppStudio framework (API.RWS.MOTIONSYSTEM namespace) and SAME incorrect values are returned.

Robtarget is in wobj0 coordinates, world is same as baseframe, using tool0.
As I do not have real robot available, could it be that reverce kinematics is not working correctly in simulator?
Any ideas?

Fritz.

3

Can you please link the source where you did get that information.
Thank you!
Fritz.

4

Hi Fritz

Apologies for the uncited claims in my earlier reply.

5

Hello,

these methods don’t use absolute accuracy but always give you back the pure ideal transformation. Do you see the difference in robot that have absolute accuracy ? If so that may be that reason

6

Hi !
The results are not a bit off, the results are off by 10, 20… degrees. I haven’t had time to play with it more to figure out any patterns. I’m just curious at the moment if anyone has gotten it to work properly in a simulator. Unfortunately, I don’t have a real robot at hand at the moment.

Fritz.

7

I tested these methods with a gofa but the only error was the absolute accuracy one . Didn’t notice anything else

8

Did you test also “joints-from-pose”? If yes, how did your html GET function body look like?
Fritz.