Question on the "Plan a Reaching Trajectory With Multiple Kinematic Constraints" example

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Paolo Rosettani
Paolo Rosettani 2020-11-23
评论： Denizhan AKINCI 2024-6-6
Hi,
I'm learning this Mathworks' example code:
Plan a Reaching Trajectory With Multiple Kinematic Constraints - MATLAB & Simulink - MathWorks Italia
In this part of the code:
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.
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Paolo Rosettani
Paolo Rosettani 2020-12-1
Here you have the code if you want to try it.
you can find the IK constraints inside the "CinematicaInv.m" function.

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Karsh Tharyani
Karsh Tharyani 2020-12-1
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
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Denizhan AKINCI
Denizhan AKINCI 2024-6-6
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 ?

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