Constraint the position of the 7th axis in some cases
Posted: Thu Apr 14, 2022 2:56 pm
Hi,
We have a 7 axis robot. In some specific cases, we want to constraint it's position in some specific cases.
Is there a programmatic way (out of the the URDF) to say: "the 7th axe shall be fixed for this computation of the inverse cinematic".
Something like (pseudo code):
Thanks
We have a 7 axis robot. In some specific cases, we want to constraint it's position in some specific cases.
Is there a programmatic way (out of the the URDF) to say: "the 7th axe shall be fixed for this computation of the inverse cinematic".
Something like (pseudo code):
Code: Select all
def compute_inverse_cinematic(case,position):
if case==2:
joins[2] = np.pi/4
fix_join(2)
...