Hello, can anyone help me with a question? I write new programms of arc-welding seams searching by KUKA. It's builded by interrupts of metal touching...like "TouchSense tech" KR16. Question is: I want to teach NEW base by three points (FRAME type) in the process of program-run (Not by menu: StartUp-->Base calibrate... ). Where can I find math libraries or algoritms for it, like standard KUKA's ? Thanks
BASE by three points
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manhunt -
January 30, 2017 at 4:06 PM -
Thread is marked as Resolved.
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check forum, this was discussed before, there are also some ready to use program samples...
https://www.robot-forum.com/robotforum/kuk…rection-vector/
https://www.robot-forum.com/robotforum/kuk…lgorithm-works/EDIT --- updated links --- (2022-Oct)
PostRe: Computing A, B, C angles from the direction vector
[…]
Proper Euler angles only use two axis... for example Z-X-Z, etc. (first and third rotation are same, in this case Z). In reality they are not the same thing because Z axis points in different direction after second rotation.
Tait-Bryan uses three axes... X,Y and Z.
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so there are three basic rotations involving all three axes (X,Y,Z), therefore this is considered Tait-Bryan....
[…]
just reverse the process or randomize A,B, C till you get right output.... kidding
you should check forum as this…panic modeSeptember 24, 2016 at 12:41 AM ThreadABC 3 point BASE measurement. How does algorithm works?
I want to perform ABC 3 point BASE measurement programmatically. Let's suppose I know the 3 point of the model and I can move the robot to it. Is it possible to call the measurement method in robot program?MischaDecember 25, 2014 at 9:01 AM -
Thanks a lot
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As of the geometrical knowledge, it can be describled as the below procedures:
1. one out of 3 points can be as the base origin without angle(only translation)
2.calculate 2 vectors by 3 points(by origin)
3.achive the norm vector in x direction
4.calculator the norm vec
tor in z direction
5.calculate
the y vector ,
6.calculate
the euler angle by matrix
7.combine
the
translation and angle together
to get base frame.来自我的 MI 5s 上的 Tapatalk
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Sorry for the late... somebody have the samples??
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samples of what?