Question on the "Plan a Reaching Trajectory With Multiple Kinematic Constraints" example
2 views (last 30 days)
Show older comments
Paolo Rosettani
on 23 Nov 2020
Commented: Denizhan AKINCI
on 6 Jun 2024
Hi,
I'm learning this Mathworks' example code:
In this part of the code:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/425018/image.jpeg)
the TargetPoint is set equal to [0, 0, 100] (from constraintAiming's Documentation, that correspond to the "iiwa_link_ee" [x y z] axis)
The question is: Why 100? What this value means?
Thank you in advance!
Paolo Rosettani.
4 Comments
Accepted Answer
Karsh Tharyani
on 1 Dec 2020
Hi Paolo,
The purpose of providing this constraint is to ensure that the "iiwa_link_ee" frame's (or "EndEffector" body's) z-axis is almost parallel to robot's base's z-axis (note that when "ReferenceBody" is ' ' it implies that the body is the base).
Since the target point is defined with respect to the base of the robot ("ReferenceBody"), and is way above the origin of the base body's frame along the z-axis, the two z-axes are almost parallel. You could keep it 1000 or any high number to obtain a similar effect.
I hope that answers your question.
Best,
Karsh
1 Comment
Denizhan AKINCI
on 6 Jun 2024
What if we want to keep another joint's y axis paralel to the base's y axis ? The constraintOrientationTarget will be the joint and ref body will be the base right? Then the targetPoint will be [0 100 0] ? That's the logic we follow here ?
More Answers (0)
See Also
Categories
Find more on Inverse Kinematics in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!