Is there a way to capture a position(after searching using force) and then offset the robot from that captured position ? Like doing an LPOS or JPOS in FANUC robot.
Capture position to waypoint and then offset
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Skipp -
February 1, 2019 at 4:19 PM -
Thread is Unresolved
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You can use pose_trans() or pose_add() to convert a point. So if I had a pick point and wanted to offset that for an over pick position I could use those functions. If you want to move in the tool frame of reference then you would use pose_trans, pose_add is in the base frame of reference.
For example if I wanted my overpick to be 100 mm above the point in tool frame (assuming +Z is coming out of my tool)
var pick = somePose
var overPick = pose_trans(pick, p[0,0,-0.100,0,0,0])movel(overPick, a, v)
movel(pick, a, v)That would move to the overPick and to the pick point. You can also choose variable as the type of waypoint if you are using Polyscope.
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