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

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Paolo Rosettani
Paolo Rosettani on 23 Nov 2020
Commented: Yiping Liu on 3 Dec 2020
Hi,
I'm learning this Mathworks' example code:
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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Answers (1)

Karsh Tharyani
Karsh Tharyani on 1 Dec 2020
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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