I am working on the "CONF" parameter of FANUC Robots.
The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is based on 3 mains parameters : the position of the wrist (Flip/No-flip), the elbow (Up/Down) and waist (Top/Bottom).
I want to find a way to develop a function which the purpose is to give in enter a CONF param (like NUT of FUT) and return all the possible angles configurations of the robots which satisfied this CONF param (n,6 array).
I have managed to find the min and max angles for J5 to satisfied the flip or no-flip CONF parameter (which is dependent of +/-180° on J4 and J6).
If we take a 6 DOF robot (J1,J2,J3,J4,J5,J6), it's quite simple to find all the possible configuration with a fixed J2 and fixed J3.
But when I want to include J2 and J3, the problem become way more complex.
Have you any clue ?
Thanks in advance for your help, have a good day!