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amovejx (Auto Mode)

This function performs joint-space motion with an additional solution space index, allowing the robot to reach the same Cartesian target using different inverse kinematic solutions. It is particularly useful for robots with multiple valid joint configurations for the same TCP position.

Definition
DRFLEx.h within class CDRFLEx, public section (line 792)

bool amovejx(float fTargetPos[NUM_JOINT],
             unsigned char iSolutionSpace,
             float fTargetVel,
             float fTargetAcc,
             float fTargetTime = 0.f,
             MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE,
             MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE,
             BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE) {
    return _amovejx(_rbtCtrl, fTargetPos, iSolutionSpace, fTargetVel,
                    fTargetAcc, fTargetTime, eMoveMode, eMoveReference, eBlendingType);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint position for each of the six robot axes.
iSolutionSpace	unsigned char		Specifies the solution space index for inverse kinematics. This determines which joint configuration is selected for reaching the same Cartesian target.
fTargetVel	float		Joint velocity [deg/sec].
fTargetAcc	float		Joint acceleration [deg/sec²].
fTargetTime	float	0.f	Motion completion time [sec]. If specified, velocity and acceleration are ignored.
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Specifies whether the movement is in absolute or relative mode.
eMoveReference	MOVE_REFERENCE	MOVE_REFERENCE_BASE	Coordinate reference of the motion (BASE or TOOL).
eBlendingType	BLENDING_SPEED_TYPE	BLENDING_SPEED_TYPE_DUPLICATE	Determines blending behavior with subsequent motions.

Note

• The iSolutionSpace parameter defines the specific kinematic configuration among multiple valid joint-space solutions that reach the same Cartesian pose. This helps control which arm posture (e.g., elbow-up/elbow-down) is used.

• If fTargetTime is specified, the motion ignores fTargetVel and fTargetAcc.

• Use blending (eBlendingType) to connect sequential amovejx or movej motions smoothly.

Return

Value	Description
0	Error
1	Success

Example

// CASE 1 — Move using specific solution space (e.g., elbow-up)
float q1[6] = { 0, -30, 60, 0, 90, 0 };
unsigned char sol_space = 1;   // Select solution space index
float jVel = 30;               // Joint velocity [deg/sec]
float jAcc = 60;               // Joint acceleration [deg/sec²]
drfl.amovejx(q1, sol_space, jVel, jAcc);
// Moves to the target joint position using solution space 1.

// CASE 2 — Time-based motion using same target with different configuration
float q2[6] = { 0, -60, 120, 0, 90, 0 };
unsigned char sol_alt = 2;     // Alternative kinematic configuration
float move_time = 5.0f;
drfl.amovejx(q2, sol_alt, 0, 0, move_time);
// Moves to the target in 5 seconds with solution space 2.

// CASE 3 — Blended transition between two configurations
float q3[6] = { 0, -45, 90, 0, 90, 0 };
drfl.amovejx(q1, sol_space, jVel, jAcc, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, BLENDING_SPEED_TYPE_DUPLICATE);
drfl.amovejx(q3, sol_alt, jVel, jAcc);
// Smoothly transitions between two motion paths using blending.

This example demonstrates multi-solution joint motion control, allowing posture switching or smooth transitions between kinematic configurations in auto mode.