CoppeliaSim forums

Hi !

I am using the UR10 V-REP robot to make a real UR10 move. However, I have a small problem. The simulation always turn the joint in the same direction, which cause the real UR10 to reach his joint limit in joint 6 after a couple iteration (each joint can go from -2Pi to 2PI). Is there a way in V-REP to make the joint turn in the other direction? I can't find the place where such decision is made.

If you need more details I'll be happy to provide them.

Thanks a lot,
Laurie

Hello Laurie,

what kind of simulation are you doing? Are you using the IK module?
When using IK, you have to be aware that this is not path or motion planning. IK works by returning the shortest path in the Cartesian space. If you had a redundant manipulator, you could temporarily deactivate one joint (or adjust the joint's IK resolution weight). That is.. is your IK element fully constrained? (i.e. are all 6 constraints set?) If not, you also have the possibility to temporarily deactivate a joint, or even push it into the opposite direction than it would normally go.

Cheers