Filter löschen
Filter löschen

Question on the "Plan a Reaching Trajectory With Multiple Kinematic Constraints" example

6 Ansichten (letzte 30 Tage)
Hi,
I'm learning this Mathworks' example code:
In this part of the code:
the TargetPoint is set equal to [0, 0, 100] (from constraintAiming's Documentation, that correspond to the "iiwa_link_ee" [x y z] axis)
The question is: Why 100? What this value means?
Thank you in advance!
Paolo Rosettani.
  4 Kommentare
Paolo Rosettani
Paolo Rosettani am 1 Dez. 2020
Here you have the code if you want to try it.
you can find the IK constraints inside the "CinematicaInv.m" function.

Melden Sie sich an, um zu kommentieren.

Akzeptierte Antwort

Karsh Tharyani
Karsh Tharyani am 1 Dez. 2020
Hi Paolo,
The purpose of providing this constraint is to ensure that the "iiwa_link_ee" frame's (or "EndEffector" body's) z-axis is almost parallel to robot's base's z-axis (note that when "ReferenceBody" is ' ' it implies that the body is the base).
Since the target point is defined with respect to the base of the robot ("ReferenceBody"), and is way above the origin of the base body's frame along the z-axis, the two z-axes are almost parallel. You could keep it 1000 or any high number to obtain a similar effect.
I hope that answers your question.
Best,
Karsh
  1 Kommentar
Denizhan AKINCI
Denizhan AKINCI am 6 Jun. 2024
What if we want to keep another joint's y axis paralel to the base's y axis ? The constraintOrientationTarget will be the joint and ref body will be the base right? Then the targetPoint will be [0 100 0] ? That's the logic we follow here ?

Melden Sie sich an, um zu kommentieren.

Weitere Antworten (0)

Produkte


Version

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by