sim.rmlMoveToJointPositions -which angle?

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stud3nt
Posts: 8
Joined: 29 Nov 2020, 19:56

sim.rmlMoveToJointPositions -which angle?

Post by stud3nt »

Hello.

I have one problem with programming. When I drive a robot to the desired position I get information of 3 angels of the robot ( Alpha, Beta, and Gama). Which angle do I need to use in the program?

For example:
Positions of the robot are:
Joint1 - ALPHA = 0 ; BETA = 0 ; GAMA= -65 ;
Joint2 - ALPHA = -90 ; BETA = 60 ; GAMA= -25 ;
Joint3 - ALPHA = -90 ; BETA = 60 ; GAMA= -150 ;
Joint4 - ALPHA = -90 ; BETA = 60 ; GAMA= -180 ;
Joint 5 -ALPHA = 180 ; BETA = -0,0067; GAMA= 180;
Joint6 - ALPHA = -90 ; BETA =-0,00072; GAMA=-180 ;


targetPos1={-65*math.pi/180, ??? *math.pi/180,??? *math.pi/180, ??? *math.pi/180, ??? *math.pi/180,??? *math.pi/180}
sim.rmlMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos1,targetVel)

Which number do I need to write instead of "???" ?

Cheers

coppelia
Site Admin
Posts: 8371
Joined: 14 Dec 2012, 00:25

Re: sim.rmlMoveToJointPositions -which angle?

Post by coppelia »

Hello,

I don't understand your question. With a robot, you have a configuration or state, which is a set a joint values. Not sure what those 3 values are for each joint...

cheers

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