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3.4. Programming
difference between the two given positions (left to right). Note that repeated
relative positions can move the robot out of its workspace.
3.4.7 Program
Command Tab, Variable Waypoint
A waypoint with the position given by a variable, in this case calculated_pos.
The variable can be a list of joint angles in radians, such as given by the assign-
ment var=[0.1,0.4,0.2,2.0,2.1,-3.14], or a pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three
are the orientation given as an axis-angle given by the vector rx,ry,rz. The length
of the axis is the angle to be rotated in radians, and the vector itself gives the
axis about which to rotate.
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UR-6-85-5-A
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