Hello,
My starting position of arm is [-300, 200, 300, 180, 0, 0].
I would like to rotate my gripper above current point = I would like to go through yaw values=0, -90, -180, 90
If I go through these yaw angles with motion_type=0, the joint 6 will try to go through limit and will end with error.
If I go through these yaw angles with motion_type=2, the arm start rotating all around at joint1, because inverse kinematics computes joint1 angle in different position:
current serve angles for cartesian position [-300, 200, 300, 180, 0, 0]:
[-213.690053, -16.406818, -34.098552, -0.0, 50.505313, 146.30993, 0.0]
but computed inverse kinematics for identical position:
[146.30993300332835, -16.40681277321326, -34.09853097837308, -5.400791511289653e-06, 50.505338628944465, 146.30993300332835, 0.0]
Notice all values are same, except joint1 is rotated the other way around - I need to avoid that.
Is there any solution for this?
I just need to automatically rotate my tip pointer above static point to verify that TCP offset is correct.