Now that every developer has access to a machine with nontrivial kinematics,
we're also more aware of some trouble with our support for these machines. For
instance, there is a lot of confusion about soft limits, because the same
numbers are used for joint limits and the cartesian boundary of the work
envelope, which was always assumed to be a simple rectangular solid.
(originally posted on the AXIS blog)
Entry first conceived on 5 February 2007, 16:39 UTC, last modified on 15 January 2012, 3:46 UTC
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