Good evening,
I have a system where I have a piece of reference ( calibrated in a certain position and rotation in the world) . Subsequently it is intended to calculate the position and rotation of other equal parts in the world (in production ) , so that the robot compensates for translations and rotations of the respective part.
We have a three-dimensional camera attached to the robot tool. The camera acquires a cloud of points (3D ) in various locations of the workpiece surface . These points have to be relative to a reference in the world.
As such , the robot must send each image acquisition the coordinate position of the tool relative to the world and thus must correct translations and rotations about the world , given by the vision system .
Typically , how does this type of applications with FANUC robots ? Correcting the user frame frame? With tool offset? I've tried both ways but always have problems in the rotations.
Best regards
Diogo Pinho