I have a problem, im using computer vision to detect an object which the robot has to pick up. The computer sends the coordinates and the rotation of the object.
How do I make the tool rotate correctly to the rotation so the gripper can pick it up?
Only rotate tool ?
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UR10Robot -
April 6, 2017 at 3:12 PM -
Thread is Unresolved
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Maybe you need to send commands with joint position
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Is the data from the vision system in degrees? You might need to convert it to radians for the UR.
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Hi! Did you find a solution to this issue?
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If the camera is returning Rz in degrees you must use d2r() to convert it to radians, the pose_trans() function requires x, y, z in meters and Rx, Ry, Rz in radians.