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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Joint space and cartesian space error #33

Closed romainduballet closed 6 years ago

romainduballet commented 6 years ago

Hello,

I have had some positioning issue between joint space and cartesian space. On the file attached the robot is asked to reach the same target in the two different spaces. The actual position in cartesian space shows an error varying from 1mm (x,y axis) up to 3mm (z axis). I cannot really explain why so I figured that might be a bug.

Best regards Dub_jointtargeterror.zip

Romain

sebandraos commented 6 years ago

This is likely because there is a blend the first time you hit the target and a stop point the second. If I remove the blends and check the joint positions in both hits there is a difference in the configuration of joints 4 and 6 of ±0.000009 rad which cancel each other out. All other joints are identical to that level of precision. Let me know if this doesn't account for the error and we can reopen the issue.

romainduballet commented 6 years ago

aha you must be correct ! sorry about that

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Le 26 juin 2018 à 16:29, Sebastian Andraos notifications@github.com a écrit :

Closed #33.

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