January 17, 2019, 07:33:58 PM

Base Frame Calculation

Author Topic:  Base Frame Calculation  (Read 2746 times)

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November 18, 2016, 01:25:57 AM

j.monteiro

Base Frame Calculation
Hello,

I'm using a really old but efficially program to calculate a base frame. However I would like to know how it works, what is the mathematic expression behind it.

In the attach you can see a print of the program. Thank you in advance.

« Last Edit: November 18, 2016, 01:28:05 AM by j.monteiro »
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Today at 07:33:58 PM

Guest
Re:  Base Frame Calculation

November 18, 2016, 03:33:41 PM

SkyeFire

Global Moderator
Re: Base Frame Calculation
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November 20, 2016, 01:13:50 AM

j.monteiro

Re: Base Frame Calculation
http://www.robot-forum.com/robotforum/kuka-robot-forum/abc-3-point-base-measurement-how-does-algorithm-works/msg67208/#msg67208[/url]

Thank you for your answering SkyeFire, but I'm not understanding how can I use the 3 points measured by the robot and the corresponding base frame points.

Robot Positions, Base 0, Tool 1               Base   (All data in mm)
X          Y       Z                        X               Y                 Z
Pos 1   1536   120   -516                    3553         -610            767
Pos 2   1531   -864  -507                    2734         -610           1455
Pos 3   2474   -658  -613                    3553          610            767
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November 21, 2016, 01:28:56 PM

SkyeFire

Global Moderator
Re: Base Frame Calculation
What, exactly, do you not understand?  The vagueness of your question suggests that you didn't read the linked thread, or done any real research.
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November 22, 2016, 12:53:38 AM

j.monteiro

Re: Base Frame Calculation
I'm using the algoritm from this website you shared in some thread before -> http://nghiaho.com/?page_id=671
However with the previous data I wrote before it is giving me 288mm error. Can you check if you have the same just to be sure I'm not doing nothing wrong. Thank you.
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November 22, 2016, 01:19:37 PM

SkyeFire

Global Moderator
Re: Base Frame Calculation
That's b/c you data sets don't match up.  If you perform a simple 3D distance check between each pair of points, you'll find that your first two points are 1419.4mm distant in both sets.  But your distance between P2 and P3 in the robot is 971mm, while the P2-P3 distance in Base is 231mm.  The P1-P3 distance is 1661 vs 1371.  So you're trying to fit two triangles that only have one side of equal length.  For the fit algorithm to work, both triangles must be nearly perfect matches in size and shape -- the algorithm only calculates the positional and rotational differences between the two triangles.
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