Manipulator arm on a linear guide

[pr2001]

Hello
After analyzing the path planning examples I spent some time understanding how they work and putting them into practice.
However, the work that needed to be done involves placing the robot on a linear guide
I tried adding the additional joint to the set and checking what would happen, but I realized that this should not be the procedure to follow.
I can't find any information regarding joining two types of joints, rotational and prismatic.
Has anyone already done a simple example of this kind that they can provide me with or give me some guidance on what I need to do to do pathplanning of a robot on top of a linear guide?
Thank you very much

[coppelia]

Hello,

I tried adding the additional joint to the set and checking what would happen, but I realized that this should not be the procedure to follow

Why?

You can see the linear guide just as another joint, at the base of the robot. e.g.:

Code: Select all

guideBase --> prismatic joint --> robotBase --> robotJoint1 --> robotLink1 --> etc.

Cheers