Geometries with no orientation support
84 Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Plan for singularity on page 86
Encounter a no-solution position on page 86
A robot having an arm configuration has two kinematics solutions when
attempting to reach a given position. Point A is shown in the following
illustration. One solution satisfies the equations for a right-armed robot, the other
solution satisfies the equations for a left-armed robot.
See also
Arm solutions on page 83
For a three-dimensional Articulated Independent robot, there are four solutions
for the same point:
• Left-arm
• Right-arm
• Left-arm mirror
• Right-arm mirror
For example, consider the Cartesian point XYZ (10,0,15). The joint position
corresponding to this point has four joint solutions. Two of the solutions are the
same as the solutions for the two-dimensional case. The other solutions are mirror
image solutions where J1 is rotated 180
.
solutions for two-axes robots
three-dimensional robots
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