Features
The robot moves to the target position (pos) within the joint space.
Since the target position is inputted as a posx form in the task space, it moves in the same way as movel. However, since this robot motion is performed in the joint space, it does not guarantee a linear path to the target position. In addition, one of 8 types of joint combination (robot configurations) corresponding to the task space coordinate system (posx) must be specified in sol (solution space).
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
float64[6] |
- |
position list |
|
vel |
float64 |
- |
velocity |
|
acc |
float64 |
- |
acceleration |
|
time |
float64 |
0.0 |
Reach time [sec] |
|
radius |
float64 |
0.0 |
Radius for blending |
|
ref |
int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 |
|
mode |
int8 |
0 |
MOVE_MODE_ABSOLUTE =0 MOVE_MODE_RELATIVE =1 |
|
blendType |
int8 |
0 |
BLENDING_SPEED_TYPE_DUPLICATE =0 BLENDING_SPEED_TYPE_OVERRIDE =1 |
|
sol |
int8 |
0 |
Solution space |
|
syncType |
int8 |
0 |
SYNC = 0 ASYNC = 1 |
-
If the time is specified, values are processed based on time, ignoring vel and acc.
-
Using the blending in the preceding motion generates an error in the case of input with relative motion (eMoveMode = MOVE_MODE_ RELATIVE), and it is recommended to blend using MoveJoint or MoveLine
-
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
-
Refer to the description of MoveJoint.srv and MoveLine.srv for blending according to option ra and vel/acc.
Robot configuration (Shape vs. solution space)
|
Solution space |
Binary |
Shoulder |
Elbow |
Wrist |
|---|---|---|---|---|
|
0 |
000 |
Lefty |
Below |
No Flip |
|
1 |
001 |
Lefty |
Below |
Flip |
|
2 |
010 |
Lefty |
Above |
No Flip |
|
3 |
011 |
Lefty |
Above |
Flip |
|
4 |
100 |
Righty |
Below |
No Flip |
|
5 |
101 |
Righty |
Below |
Flip |
|
6 |
110 |
Righty |
Above |
No Flip |
|
7 |
111 |
Righty |
Above |
Flip |
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
success |
bool |
- |
True or False |