offset values from vision guidance camera

[dcrobo]

 
hello friends

i have a camera mounted on gripper of the robot which gives me offset values

in real format for x, y, z, rx, ry, rz

how do i include it in the program for picking the object in right position with offset values

[SkyeFire]

It depends on what the values are relative to.  Are the coordinates relative to the TCP?  Or is it some kind of base frame offset?

Once you have determined what reference frame you need to apply the offset values to, the simplest approach is to use the Geometric Operator:

Code:

OFFSET_FRAME = ORIGINAL_FRAME : CAMERA_VALUE_FRAME

[dcrobo]

Thanks Sky fire for your reply

Can i know what is the geometric operator

what does the below line mean

Code:
OFFSET_FRAME = ORIGINAL_FRAME : CAMERA_VALUE_FRAME

[Fubini]

Hi,

what does the below line mean

Take a look at e.g.

http://www.robot-forum.com/robotforum/kuka_robot_forum/xvalue_of_wrist_root_point-t7173.0.html;msg29249#msg29249

its the multiplication of homgenous coordination transformations often called "geometric operator" in the KUKA world.

Fubini