Open elizatscott opened 3 years ago
Could you tell me the AS system software version which you use. You can check the version by Auxiliary function 0804 or Monitor command "ID".
To use our driver in F series, the robot controller's AS system should be higher than ASF_01000000W
.
(https://github.com/Kawasaki-Robotics/khi_robot/blob/master/docs/ConnectingRealRobot.md)
Could you ask your KHI partner to upgrade AS system?
Still I could not get the required target motion.
Instead I am getting motions like
home > poistion1 > home > position2 > home > poisition3.... This is the motion that is happening still.
These are my code snippets. I have connected the robot to the ubuntu through the vmware workstation. Does it have anything to deal with this ?
About,
home > position1 > home > position2 > home > poisition3....
If,
set_max_velocity_scaling_factor(0.1)
home(0) > position1 > home(1) > position2 > home(2) > poisition3...
,How is the motion position1 > home(1)
like?
velocity_scaling(0.1)
?home(0)
, or [JT1~6: 0]?Yes! The motion speed is same as velocity scaling but it is maintained only during the motion of home > poisition 1 and not during poisition 1 > home. The home 1 is not same as home 0 but it is going near home 0
It seems to be a problem on khi_robot
side.
To reproduce your problem, let me know your system environment in detail.
khi_robot
version or revisionI am using VMware for Ubuntu 16.04 ASF_010000019 THE SAME KHI ROBOT VERSION CURRENTLY IN THE GITHUB AND THE SAME MOTION SCRIPT @d-nakamichi
While working with the real robot I am not getting a sequential motion like home > position1 > position2 > position3.... Instead I am getting motions like home > poistion1 > home > position2 > home > poisition3....
When checked with gazebo simulation it works correctly whereas when I am working with the real robot I am getting the error mentioned above.