Hello Guys, so we have a really difficult position to teach, the robot using 4 grippers, picks 4 gear insert and has to place them in a gear shaped Mold hole(insert) this leaves a lot of room for error as the orientation, and position has to be very precise. My idea is to have this position automatically calculated by using 3 points on the mold surface org,xx,and XY just like the coordinate system but in a job and using them as zero points, then extract the center point of the mold surface to the robot End of Arm tool by calculating.
My Question is has any of you experts attempted such a solution before and if yes how did you go about it?
Robot Self Teaching
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Stanley1012 -
June 25, 2019 at 10:43 AM -
Thread is marked as Resolved.
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The main problem is the 3 points that you need for the center. I've done this procedure but MANUALLY, down a scheme:
'Insert MANUALLY the position of
'3 points in Pxxx; Pxxx and Pxxx
'--------------------------------
'Calculating the center
TIMER T=1.00
'--------------------------------
'Creating the temporary frame using the center calculated from the above results and two other P-var coordinates created ad-hoc)
MFRAME UF#(1) PXxxx PXxxx PXxxx -
Thanks men. Works now perfectly