test_configurations2

 IN ORDER TO SIMULATE THE PROGRAM:
   A) FIRST, LOAD A ROBOT
       robot = load_robot('abb','irb140');
       OR
       robot = load_robot('abb','irb52');
       or any other robot, the target points may not be reachable,
       depending on the links' lengths.

   B) NEXT, LOAD SOME EQUIPMENT.
       robot.equipment = load_robot('equipment','tables/table_two_areas');
      
   

 The example presents the robot achieving different positions and orientations
 In addition, the conf values, change accordingly.

0001 % IN ORDER TO SIMULATE THE PROGRAM:
0002 %   A) FIRST, LOAD A ROBOT
0003 %       robot = load_robot('abb','irb140');
0004 %       OR
0005 %       robot = load_robot('abb','irb52');
0006 %       or any other robot, the target points may not be reachable,
0007 %       depending on the links' lengths.
0008 %
0009 %   B) NEXT, LOAD SOME EQUIPMENT.
0010 %       robot.equipment = load_robot('equipment','tables/table_two_areas');
0011 %
0012 %
0013 %
0014 % The example presents the robot achieving different positions and orientations
0015 % In addition, the conf values, change accordingly.
0016 
0017 
0018 function test_configurations2
0019 
0020 global  TD_tool0 robot
0021 
0022 %definition of the end effector.
0023 TD_tool0=[1,[[0,0,0],[1,0,0,0]],[0,[0,0,0],[1,0,0,0],0,0,0]];
0024 
0025 
0026 
0027 main
0028 end
0029 
0030 function main
0031 global  TD_tool0 robot
0032 
0033 
0034 MoveJ([[217.4,1.57,1072.81]/1000,[0.972982,-0.01947,0.224767,-0.049073],[0,1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0035 MoveJ( [[86.96,1.57,1072.8]/1000,[0.972992,-0.01944,0.224739,-0.049009],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0036 MoveJ( [[28.15,1.55,1072.8]/1000,[0.973021,-0.019611,0.224611,-0.048949],[1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0037 MoveJ( [[14.42,1.55,1072.8]/1000,[0.973015,-0.019655,0.224611,-0.049041],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0038 MoveJ( [[0.11,1.57,1072.82]/1000,[0.973031,-0.019796,0.224522,-0.049091],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0039 MoveJ( [[-12.28,1.55,1072.81]/1000,[0.973022,-0.019733,0.224521,-0.049298],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0040 MoveJ( [[-98.02,1.54,1072.82]/1000,[0.973023,-0.019651,0.22448,-0.049486],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0041 MoveJ( [[-231.93,1.54,1072.81]/1000,[0.973047,-0.019566,0.224335,-0.049716],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],'vmax','z50',TD_tool0);
0042   
0043 
0044 end