Joint Limit Recovery Visualisation

Joint Limit Recovery Visualisation enables a user to avoid reaching a Joint Limit Error

To handle various situations in the robot control such as,

1. Singularity

2. Ambiguity in IK solution

3. Multiple rotations of the robot around the axis. For example, 0 to 720.

Joint limits are restricted in the AMAS VR app. When the user goes near the joint limits, the AMAS VR app will start showing error messages warning the user.

During the operation, the user might not know which joint is causing the error and which direction to move to recover.

This feature aids recovery by displaying directional arrows when the user is within 10 degrees of the limit and the direction of movement needed to avoid hitting the limit.

Example of the visualisation showing the Joint Limit Recovery directions

To avoid the inverse kinematics (IK) problem, robots with spherical joints or multidirectional mobility are limited to a range of no more than 360 degrees of movement.