Hello,
I’m developing Arduino code to control my AL5D. Plain IK with double precision calculations works quite well - apparently, 16MHz Atmega328 is quite a number cruncher 
. I’m trying to make my code suitable for scripted as well as manual movements and wondering what is a proper way to define areas where arm won’t go. Servo endpoints is one obvious check, a circle around the base is another; however, there are plenty of places which look rather random - like gripper servo hitting upper edge of the base. Do I need to make a table of forbidden coordinates and check against this table before changing arm position?
Thanks,
Oleg.