I am trying to locate a rectangular part on a table using an inductive sensor mounted onto the EOAT. I am able to easily locate the part by doing a search routine (skip condition = Robot Input - Sensor) on my x and y plane by using the PRX=LPOS method. This works great until the part is rotated a bit, then the program is of course off track. So I want to add two search routines on my x and y planes so I can find the appropriate offset angle, but how do I then offset my program accordingly? How can I say PR 1 (first X search) + or - PR2 (second X search) equals updated X Plane, then repeat on Y plane to find my zero position? Any help is appreciated!
PR Offset questions
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Brewton -
November 5, 2018 at 10:24 PM -
Thread is marked as Resolved.
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Not 100% sure I follow your logic. How are you going to establish roll with only 2 known positions?
If you have advanced Math option you can do trig, which would help in determining roll, but that would get messy.
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It would similar to how Fanuc arc sensing can find parts with 4 known parts.
External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.Instead of an arc, I would have a robot input from the sensor. What do you think?
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I have done it using the Math option and calculating the roll angle with trig. Not too bad if you are good with your math skills and have an accurate sensor.
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I have done it using the Math option and calculating the roll angle with trig. Not too bad if you are good with your math skills and have an accurate sensor.
Hello HawkME
Is it possible to share your code please,
I need to do the same, but I don't know how to start
Thank you
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I will give you the equations needed.
Slope: m = deltaY / deltaX
line: y=mx+b
slope of a perpendicular line:
m_2 = - 1 / m_1
Find intersection point by solving for the 2 line equations together. That gives you the final X and Y.
Final R = atan(m)
*Note, you must prevent any divide by 0 errors. Those will occur anytime you have a vertical or horizontal line for one of the slopes. So if that happens I just set the R angle directly to 0 or 90 and directly set X and Y to one of the raw values.
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I will give you the equations needed.
Slope: m = deltaY / deltaX
line: y=mx+b
slope of a perpendicular line:
m_2 = - 1 / m_1
Find intersection point by solving for the 2 line equations together. That gives you the final X and Y.
Final R = atan(m)
*Note, you must prevent any divide by 0 errors. Those will occur anytime you have a vertical or horizontal line for one of the slopes. So if that happens I just set the R angle directly to 0 or 90 and directly set X and Y to one of the raw values.
I succeded to find the origin by touching 3 points with Renishaw proble for each plane.
The 3 equations of the 3 planes give me the xyz of the origine, but I don't know how to find the rotations wpr for the UFrame
If you don't mind, could you please give more details of your method?
Thanks again
Edit:
I managed to calculate the coordinates xyz of a point in the Uframe X axis,
So now I have the origin, and a point in the UFrame X axis,
How can I use these two data to create my UFrame automatically?
Thanks
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Probe 2 points along each axis. Calculate the slope of each axis line. Then calculate W, P, and R by taking ATAN(slope) for each.
I would suggest using matrix multiplication to adjust the WPR values.
You can set a UF = PR to create a UF