July 18, 2019, 03:38:36 PM

# Transformations in frames

### Author Topic:  Transformations in frames  (Read 278 times)

0 Members and 1 Guest are viewing this topic.

June 26, 2019, 10:51:30 PM

#### snyffeler

##### Transformations in frames
Hi there, I just started a new job and I'm trying to get up to speed on programming with SRS and ran into an issue I could use some help with. I'm trying to do a transformation of a point in a straight Z axis move. So i'm trying something like this. movel(appro(pPoint,trMoveZ),flange,mSpeed).
however, the issue i'm having is at this point p, my Rx, rz, and ry values aren't on the normal world frame, and i can only move it with reference too 'flange' which is out of alignment with my intended z axis, so i'm getting some drift.

Is there anyway to do transformations relative to the world frame regardless of the current flange position??? I'm also using a tool and tried to see if i could compensate for it in some way,  but haven't been able too figure that out. Thanks for any help!

Today at 03:38:36 PM

Guest
##### Re:  Transformations in frames

June 27, 2019, 06:40:48 AM

#### Psyril

##### Re: Transformations in frames
Hi,

you could use
Code: [Select]
`point compose(point, frame, trsf)` instead of appro.
This instruction returns the position to which the geometrical transformation is applied relative to the frame.

June 27, 2019, 05:17:23 PM

#### snyffeler

##### Re: Transformations in frames

Thanks, I actually finally found the difference in using the compose vs. Approach almost at the same time i saw this. Thank you so much for the help!

I've used it for assigning new point values, but i didn't realize it could be used to transform a move just like approach can be.

### Similar Topics

###### Relationship between Frames/Rotations/Transformations..

Started by LBR_Slave on KUKA LBR IIWA

2 Replies
1194 Views
September 27, 2017, 06:39:12 AM
by LBR_Slave
###### Homogeneous Transformations in Yaskawa Motoman
1 Replies
3027 Views
September 27, 2014, 04:43:15 PM
by Fabian Munoz
###### Coordinate Base Transformations to DKP-400 Axis manipulation

Started by jwarton on KUKA Robot Forum

4 Replies
4273 Views
April 03, 2015, 07:23:39 PM
by jwarton
###### Jog Frames

Started by GingerNinja on Fanuc Robot Forum

2 Replies
266 Views
April 22, 2019, 10:57:18 PM
by Shellmer