These bullets are from the XArm 6 User Manual 1.2.2 page 60.
Could somebody at UFactory please clarify what they mean?
● Repeat the same set of Cartesian commands. When no joint command is used, the posture of the arm will change slightly. If it continues to accumulate, it may cause an error. In motion planning, a joint command correction is needed.
[Andre says:] What is this saying? Do you mean that if only XYZ type commands are used, then errors will accumulate? Does this apply only to where the robot goes when you tell it to move or does it also apply to where it says it is when you ask for its location?
What exactly needs to be done to keep the robot from accumulating errors?
Please answer these questions! This may be the cause of repeatability issues we (and some of your other customers) are seeing!
● When going to the same position, the rotation process of the
joint motion, Cartesian motion, and the robotic arm are
[Andre says:] I do not understand this sentence. Could you please clarify and provide a more detailed explanation?
● In a certain posture of the robotic arm, it may not be able to
take the Cartesian linear motion. In this case, the rotation
angle of the joint needs to be readjusted.
[Andre says:] What is this saying? Do you mean that sometimes the robot can’t solve a Cartesian motion path and the user must specify servo angles explicitly to get it unstuck? Please clarify? _
● If the x/y/z cannot move simultaneously with the Cartesian
linear motion, please decompose the position.
[Andre says:] I do not understand this sentence. Could you please clarify?
Thank you for your attention!
Applied Anodize, Inc.