Geometries with no orientation support
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018 93
Maximum positive joint limit
position
R = absolute value of (X1b - X1e)
The derivations for the maximum negative joint limit applies to the condition
when L1 and L2 are folded back on top of each other.
R is computed by using the base and end-effector offsets values (X1b and X1e).
Maximum negative joint limit
condition
R = absolute value of (X1b -
X1e)
JMaxNeg = -cos-1
Maximum negative joint limit
condition
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