July 15, 2019, 06:28:41 PM
Robotforum | Industrial Robots Community

 Relative pose of tool0

normal_post Author Topic:  Relative pose of tool0  (Read 364 times)

0 Members and 1 Guest are viewing this topic.

April 05, 2019, 10:26:20 AM
Read 364 times
Offline

JonasHS


Does anyone know how I can find and calculate the relative pose of tool0 (end effector) coordinate frame with respect to base coordinate frame on an ABB IRB120? All other relative poses are known.

I have attached a picture of the robot. User frame and object frame should be swapped around.

Hope it makes sense.
« Last Edit: April 05, 2019, 10:30:22 AM by JonasHS »

Today at 06:28:41 PM
Reply #1

Advertisement

Guest

April 05, 2019, 05:10:02 PM
Reply #1
Offline

SkyeFire

Global Moderator
Well, it's been a looong time since I had to do anything like this in RAPID, but if I understand you correctly, you could probably do something like PoseMult(CRobT, PoseInv(tool data))

The idea is, you take the current position of the TCP, and multiply it by the inverse of the active tool.  That should get you the position of "Tool 0", the center of the A6 flange, in the active Work Object.

April 05, 2019, 05:38:28 PM
Reply #2
Offline

SAABoholic


If your World/Base is not the same, the relationship between them should be known (check your system parameters if nothing else).

Easiest way to accomplish what you're looking to do is to convert your current position into joint target (using your active tool/wobj)
and then convert the joint target back to a robtarget using Tool0 and a wobj with the known "negative" relationship between your Base/world. This should (in theory anyway, I haven't tested it yet) give you the robtarget in BASE using tool 0 and from there you can extract the pose (if that's all you want).

April 05, 2019, 05:43:34 PM
Reply #3
Offline

Lemster68

Global Moderator
Why not just CRobT(Tool0,Wobj0) ?

April 05, 2019, 05:53:24 PM
Reply #4
Offline

SAABoholic


Last I checked that would give you the coordinates relative to World.

April 05, 2019, 05:59:46 PM
Reply #5
Offline

Lemster68

Global Moderator
So if the world and base are coincident, that would be sufficient.  But like you said, if they are not, then perhaps more work needs to be done.

April 15, 2019, 03:28:13 PM
Reply #6
Offline

robotero


The position of the tool relative to world object is known
And is the product of three transformations:
Worldtobase*basetotool0*TCP

You want to know the position tool0 relative to base

You then need to premultiply by the inverse of Worldtobase and post multiply by the inverse of TCP

I am sure there are commands inside RAPID to do the math

What robot were version is installed in your robot?

IN version 6.5 new useful mathematical functions were added

Today at 06:28:41 PM
Reply #7

Advertisement

Guest


Share via facebook Share via linkedin Share via pinterest Share via reddit Share via twitter

moved
MOVED: Relative pose of tool0

Started by SkyeFire on Robot Geometry, Linear Algebra, Forward and Inverse Kinematics

0 Replies
168 Views
Last post April 05, 2019, 05:10:33 PM
by SkyeFire
xx
Relative and Absolute modes of KUKA operationOperating KUKA in the relative mode

Started by sakshi.rawal on KUKA Robot Forum

3 Replies
2975 Views
Last post March 23, 2016, 01:08:22 PM
by SkyeFire
xx
Commanding Cartesian Pose through FRI

Started by gman1 on KUKA LBR IIWA

0 Replies
164 Views
Last post March 18, 2019, 09:18:01 AM
by gman1
xx
ABB, TCP Default Pose = X point down?

Started by MikeEd1 on ABB Robot Forum

1 Replies
739 Views
Last post April 11, 2018, 07:42:26 PM
by Tyler Robertson