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Hi dornhege,

Thanks for your answer! What you said makes sense. I do realize that if I want to control a joint of the robot to turn more than 180 degrees, it would be much easier to specify the goal angle this way without worrying about the wrapping problem. For example, if I want the robot to use a screw driver and make two full turns, I would just command its arm roll joint angle to be alpha+4*pi.

Problem solved. Thanks again for your help!

Huan