I am working on an application where the TCP picks a part from the nominal center, however the offset information is provided based off iRVision locating a feature (Green Box). Since the locating feature differs from the pick point in both the X and Y direction, any rotational changes of the part significantly throw off the X and Y of the pick point.
The EOAT is a simple suction cup with the Tool frame only containing the Z element.
I will always know the theoretical X and Y distance between the locating feature and pick point. Is there an easy way to rotate about the axis of the locating feature while maintaining accuracy of the pick point orientation in all directions?
I have tried several things and gotten close, however it needs to be much more accurate.