On 01/13/2014 05:18 AM, Jakob Flierl wrote: >> I start with a clean working tree, build, start the rm501 config, and >> home the machine. Then I switch from joint mode to world by hitting >> "$", and things go wrong. The X, Y, and Z DRO values become NAN, and a >> big chunk of the robot arm in the vismach view disappears. > > Just updated the robot's initial position in the homing sequence. > So that the inverse kinematics is defined for this position (no more NANs). > > Is there any way to prevent the user from moving the robot into > undefined positions?
As far as i know, the only way is to put joint limits in the ini file that exclude invalid points from the accessible space. -- Sebastian Kuzminsky ------------------------------------------------------------------------------ CenturyLink Cloud: The Leader in Enterprise Cloud Services. Learn Why More Businesses Are Choosing CenturyLink Cloud For Critical Workloads, Development Environments & Everything In Between. Get a Quote or Start a Free Trial Today. http://pubads.g.doubleclick.net/gampad/clk?id=119420431&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
