Movement along path supported by rotary tilting table
Posted: 24 Sep 2014, 12:05
Hi coppelia,
the problem I am facing is the following: I have a robot which is following a defined path via IK at the moment. I connected that path to the rotary tilting table which is positioned in front of the robot. So when the table moves, the path will move as well.
Now what I want to achieve is, that the movement of the table "supports" the robot. When it's easier for the table to just turn by 180 degrees instead of the robot moving a long way, that should happen.For example, if the path is a circle on the surface of the table, it's probably easier for the table to turn one joint by 360 degrees instead of the robot moving lots of joints.
I imagine it kind of like in this video: https://www.youtube.com/watch?v=ar14v7P16zA
Is that in any way possible and if yes, how would I start?
Thank you very much for your help!
Cheers, Simon
the problem I am facing is the following: I have a robot which is following a defined path via IK at the moment. I connected that path to the rotary tilting table which is positioned in front of the robot. So when the table moves, the path will move as well.
Now what I want to achieve is, that the movement of the table "supports" the robot. When it's easier for the table to just turn by 180 degrees instead of the robot moving a long way, that should happen.For example, if the path is a circle on the surface of the table, it's probably easier for the table to turn one joint by 360 degrees instead of the robot moving lots of joints.
I imagine it kind of like in this video: https://www.youtube.com/watch?v=ar14v7P16zA
Is that in any way possible and if yes, how would I start?
Thank you very much for your help!
Cheers, Simon