I want to have the focal point of the camera as a tool and define where the position of that point is and angle of the camera to the point using a vector (or 2 vectors). The position is ok, but I'm struggling with how to get from point & vectors to robot pose. Has anyone got experience of this? Or can someone point me in the direction of some info? Thanks.
Robot Pose from Point & vector
- F1_Robot
- Thread is Unresolved
-
-
It all depends on your coordinate frames. Different systems use different frames of reference, and robots can have multiple reference frames (called by different names, depending on the robot brand).
So, first, you have to define the 6DOF relationship between whatever frame of reference you're defining the camera's location&orientation in, and the base frame of reference in the robot. The easy way to do this is to align the robot to your primary frame of reference -- robots have built-in tools for this.
Then there's the questions of the details of your primary reference frame, and how you're generating the camera position&orientation -- left-hand rule or right-hand rule? All modern industrial robots (that I'm aware of) use RHR. How is the camera pose being defined? Most robots use Euler (Tait-Bryan) angles, although ABBs use Quaternions. But different brands use different subsets of the valid Euler rotations.
-
SkyeFire
Moved the thread from forum General Discussion of Industrial Robots Only to forum Robot Geometry, Linear Algebra, Forward and Inverse Kinematics. -
Que genial me encanta todo esto