Rotate the joint4 by controlling yaw

Rotate the joint4 by controlling yaw

Postby DennyCheng » Wed Feb 11, 2015 12:20 am

Hi all,

I have some troubles of Vipers850 controlling.
In our equipment,we must use world location to rotate the joint4,so we rotate the joint4 by increasing the yaw value from -180 to 180.
In this testing,robot should rotate the joint4 by clockwise.When we used the CX Controller,It can do this correctly.
After we changed to EX Controller,robot sometimes rotate the joint4 by counterclockwise in some points.

Does anyone know what is the problem? How to avoid this situation?

Testing Program as below.

AUTO i
Select robot = 1
ATTACH(0)
Do
Moves trans(400,0,100,-180+i,140,0)
i = i + 1
Until(i==360)
DETACH(0)

SIncerely,
Denny.
DennyCheng
 
Posts: 6
Joined: Sat Oct 05, 2013 9:41 pm

Re: Rotate the joint4 by controlling yaw

Postby Guenter Grass » Thu Feb 19, 2015 4:41 am

Hi Denny Cheng,

the YAW value in the V+ transformation rotates the coordinate system (transformation) around the Z axis. It is not a motion that is typically done only by joint 4 of the Viper.

To do a joint 4 motion only you can use e.g.
DRIVE 4, 180,100 ;rotate joint 4 by +180 degrees with 100% of the current monitor speed

Another option is to disassemble a location and add (or deduct) 180 to (from) the value of joint 4.
DECOMPOSE joint[1]=#PHERE ;in this case take the current robot location (make sure the robot is standing still at the time)
SET #j4.plus.180 = PPOINT(joint[1], joint[2], joint[3], joint[4]+180, joint[5], joint[6])

Regards
Günter
Guenter Grass
 
Posts: 189
Joined: Thu Oct 16, 2008 4:34 am


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