robot height

[sampits]

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]

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]

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.