I'm working on a probing application where the UR probes a block:
- probes 3 points, using 'if force()>= f_max' to stop when the UR senses resistance
- current_pose = get_actual_tcp_pose
So I have 3 points, enough to define a plane.
Now how can I build an installation feature plane from these 3 points? Pretty easy interactively, but by programming?
I can workaround this by using logic to create planes via equations and so on ( some 3D math involved). Not a big deal, but being able to re-use some existing functions may make this project easier.
This could be useful to be able to save the probed features if the power goes out, eliminates the need to re-probe, for example.
This could be useful to visualize probed features and use them as safety planes also.
Thanks,