robot height

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sampits
Posts: 19
Joined: 11 Feb 2020, 11:15

robot height

Post by sampits » 12 Feb 2020, 16:55

So every time my robot(UR3) reaches a certain height (z) it starts acting crazy, this didnt happen before when i still didnt have a gripper, im using a gripper RG2 and i´ve moved my dummy tip to the gripper, but if i even change the z height from 0.0180 to 0.0250 it starts acting crazy.

fferri
Posts: 532
Joined: 09 Sep 2013, 19:28

Re: robot height

Post by fferri » 12 Feb 2020, 20:50

Perhaps your arm has reached a singularity (e.g. when fully extended).

Try using an inverse kinematics which does not suffer of such problems, e.g. damped least squares (DLS).

Suggested reading: Inverse kinematics tutorial.

sampits
Posts: 19
Joined: 11 Feb 2020, 11:15

Re: robot height

Post by sampits » 13 Feb 2020, 10:54

fferri wrote:
12 Feb 2020, 20:50
Perhaps your arm has reached a singularity (e.g. when fully extended).

Try using an inverse kinematics which does not suffer of such problems, e.g. damped least squares (DLS).

Suggested reading: Inverse kinematics tutorial.
Thank you very much, after changing the calculation method to DLS the robot finally started picking objects in the right position and it doesn´t go crazy when it gets in high positions.

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