Robot Joint Motion

[Julien_Demetra]

Hello,

I'm using VREP to simulate 2 UR10 robots. I would like to make the robot go from one dummy to another through a joint motion, just like the one we can do on the real robots.
I still haven't found a good way to it so far.
What I'm doing is:
- Initial situation : the robot end effector is at a certain dummy with a certain configuration
- I look at N configurations possible for the robot for the target dummy
- I search for the configuration which has the smallest distance to my initial one.
- I tell the robot to go to this configuration

What I don't like with my method is that if I run the simulation several times I will not find always the same target configuration. Indeed It finds the smallest distance for N configuration and the run after the N configurations are not the same and thus the smallest distance can be different. I could increase the N number to a big value but then the computation would be too long !

Do you have a solution for me ?

Cheers,

Julien

[coppelia]

Hello,

since the search is randomized and your robot allows for several configurations for a given end-effector pose, you will probably find different solutions for different simulation runs. I think there is no other way around than to increase N..

Cheers