Can I follow a rule how to calculate a joints position.
Let me explane,I go the a certain posiition, I want to move down 200 mm on this position,
I can do that with the move command but it’s to slow, if I can caluculate
this position in joints I can go much faster to the goal.
I know it’s inverse kinematics, but can you give me a clue how to calculate it?
I have a six arm cobot.
Thanks,
Danny
https://www.youtube.com/watch?v=50X8QNsx4Oo
Hi Danny,
I do not think it’s a good idea to use IK method to solve this issue, here is a link shows the shortage of the get_ik method: Why I can not get the right joint agnles of the position by "get_inverse_kinematics"?
I did look into your case by the video, I think the best way is to update your firmware to the latest(1.6.1) and try to plan continuous motion according to the latest “xArm-User-Manual”.
Additionally, you could refer to this post: http://help.ufactory.cc/en/articles/3954394-guide-to-run-xarm-at-the-maximum-speed
Thanks
Hi Daniel,
Thanks for explaining,
So if I go to a certain distance and get from there the ‘get_ik’ to calculate move 130mm down, I get not the correct joint values?
Continuous motion without using joint positioning is way to slow.
The best I can do is to make a small program to go to every position and save this coords, then afterwards I can do joint positioning,
It’s a bit anoying to do it that way, in the box I drop the product I have to set 7 rows x 5 high = 35 positions above and 35 positions under,
and I have to do it for both left and right side of a box, so a lot of parameters.
For now I go with joint positioning above the row and wait on bit no motion then I relative position to z -depth in mm, It’s easy to change and
I have just 7 joint positions for a box. ( at all positioning instructions i set ‘wait on false’ and look at motion bit to go to the next instruction, it’s a little bit faster
than using ‘wait is true’ at every positioning instruction.)
Is this the way to go or do you have another solution in mind?
Thanks,
Danny
Hi Danny,
So if I go to a certain distance and get from there the ‘get_ik’ to calculate move 130mm down, I get not the correct joint values?
No, you will not get correct joint values for a point which is more than 10mm from the current TCP position of the robot.
I made 2 examples to let the robot do same task with linear motion and joint motion, please make sure that the firmware/xarm studio of your robot are both 1.6.1 and then try the 2 Blockly projects on your xArm 6 robot to see if you could find some ideas for your project.
Download link: https://drive.google.com/drive/folders/1grzPJbQCkjTnqqrrwKEO4ZPx_Ao6_Dqj?usp=sharing
Thanks
