search

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
146 stars 192 forks source link

Setting workspace bounds #494

Closed adhitir closed 2 years ago

adhitir commented 2 years ago

What is the best way to set hard workspace limits on the motoman hc10dt? The inverse kinematics solutions sometimes lead to configurations that take move the joints of the robot and make it collide with the floor. Obviously, I wish to avoid this as its really hard to move the robot out of a collided pose. How can I set hard workspace bounds for the robot, not for the end-effector in task space but to avoid joint collisions with the floor.

EricMarcil commented 2 years ago

You can setup spatial limits with the Functional Safety Unit (FSU).
Please refer to the related manuals: https://www.motoman.com/getmedia/53EE5B5C-74C0-44BC-B8C9-96A751B7ED41/178949-1CD.pdf.aspx?ext=.pdf