Error: "Axis X is outside the permitted range." - Githubissues

visose / Robots

Create and simulate ABB, KUKA, UR, and Staubli robot programs.

MIT License

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Error: "Axis X is outside the permitted range." #63

Closed pablodm00 closed 3 years ago

pablodm00 commented 3 years ago

Hey, I have been using the plugin and keep getting this error. It happens when the values of the joint angles are high (usually above 2-3 rad), it says that these values are above the permitted range. However, these values are what are required and they should be doable by the robot as they are below 2*pi radians (a full rotation of the joint), right?

am i not understanding something correctly? or is there a way to remove whatever limit is set (or change it to 2*pi?)

thanks in advance!

visose commented 3 years ago

Check the replies in this issue: https://github.com/visose/Robots/issues/8 I just pinned it, it seems a common misunderstanding people run into that is not immediately obvious.

pablodm00 commented 3 years ago

Thanks for the quick help!

I had a look and its great to know but I'm not sure it answers my question. Also I was using that component to convert to radians already. Is there anything else that may be causing that?

visose commented 3 years ago

You mean the component to convert to Degrees? Are you using the one from the Robots plugin?

pablodm00 commented 3 years ago

yes, i am using the robots plugin component to convert from degrees to radians

visose commented 3 years ago

Can you describe now in more detail the issue, for example:

I am using robot model X
The spec sheet says that it's 5th joint has a range from -180 to 180 degrees.
Using the Robos plugin component to convert degrees to radians and after pluging the above values and the robot I'm using to the RobotSystem input, the range becomes: 0 to 2*PI radians.
In grasshopper I get an error in axis 5 that the joint is at 1.5*PI radians.
This value is within the 0 to 2*PI range, so the error is unexpected.

pablodm00 commented 3 years ago

Thanks @visose, i checked and the value is indeed out of the allowed bounds. It happens in joint 5 of an ABB IRB1600 robot, which allows 115 to -115° but the value is -146°. why is this happening? Shouldn't the plugin not be generating angles outside of those permitted for that joint? the correct robot is connected to the program output, so I don't really understand why its doing this. Thanks in advance!

visose commented 3 years ago

It flags as an error that the angle is out of range. I think its better to display what the angle should be to reach that point, rather that not show anything at all, to help you decide how to fix it.

pablodm00 commented 3 years ago

i see, thank you very much. What can i do to fix it? the object is at a normal place and there shouldn't be a problem reaching it

visose commented 3 years ago

There is a problem reaching it, at least with one configuration. You can try changing the configuration or see if an axis is getting winded up due to a previous motion.