General conversion between different coordinate system types (KUKA, Fanuc, ABB, etc)

Well, I'm back to this. Except now it's project-related, instead of personal interest. I need to convert a lot of points from Kawasaki to Fanuc.

Back in this post , Jeremy said that RoboDK contains Python functions that convert each Euler "type" to/from matrix notation. I've found them, but... it's not entirely clear which function is for which (group of) robot brands. Some are called out explicitly -- the functions named pose_2_Fanuc and Fanuc_2_pose

are pretty obvious. But there's nothing called out explicitly for Kawasaki.

I think I've found it, though. In RoboDK proper, you edit a frame's "type" between multiple notations, and "Kawasaki" is grouped as so:

pasted-from-clipboard.png

Digging into the RoboDK.py file turns up no functions labelled for Kawasaki, but does turn up one for Comau:

def Comau_2_Pose(xyzrpw):
    """Converts a Comau XYZRPW target to a pose (4x4 matrix), the same representation required by PDL Comau programs.
    
    .. seealso:: :class:`.Mat`, :func:`~robodk.TxyzRxyz_2_Pose`, :func:`~robodk.Pose_2_TxyzRxyz`, :func:`~robodk.Pose_2_ABB`, :func:`~robodk.Pose_2_Adept`, :func:`~robodk.Pose_2_Comau`, :func:`~robodk.Pose_2_Fanuc`, :func:`~robodk.Pose_2_KUKA`, :func:`~robodk.Pose_2_Motoman`, :func:`~robodk.Pose_2_Nachi`, :func:`~robodk.Pose_2_Staubli`, :func:`~robodk.Pose_2_UR`, :func:`~robodk.quaternion_2_pose`
    """
    return Adept_2_Pose(xyzrpw)
    
def Pose_2_Comau(H):
    """Converts a pose to a Comau target, the same representation required by PDL Comau programs.
    
    :param H: pose
    :type H: :class:`.Mat`
    
    .. seealso:: :class:`.Mat`, :func:`~robodk.TxyzRxyz_2_Pose`, :func:`~robodk.Pose_2_TxyzRxyz`, :func:`~robodk.Pose_2_ABB`, :func:`~robodk.Pose_2_Adept`, :func:`~robodk.Pose_2_Comau`, :func:`~robodk.Pose_2_Fanuc`, :func:`~robodk.Pose_2_KUKA`, :func:`~robodk.Pose_2_Motoman`, :func:`~robodk.Pose_2_Nachi`, :func:`~robodk.Pose_2_Staubli`, :func:`~robodk.Pose_2_UR`, :func:`~robodk.quaternion_2_pose`"""
    return Pose_2_Adept(H)

Which is rather amusing, as the Comau routines are just a call to the Adept routines. Apparently no one ever decided to add a similar "alias" for Kawasaki?

Now to see if I can actually get my weak Python skills to access those functions from my own external script....

Quote from MOM

@SkyFire

you also may check post #35 (pose calculator)

D'Oh!

Here's a question: these only work for Right-hand-rule coordinate systems, correct? Kawasakis used to be left-hand, but there doesn't seem to an option for those older robots.

Not that it really matters, as I'm working on an E-model controller (latest generation). So it should be right-hand, but now I need to find a way to confirm/deny that. Off to download the trial version of the Kawasaki simulator I go!

Well, I downloaded the Lite version of K-Roset (Kawasaki's offline simulator). I didn't get a choice of controllers, but every robot I tried jogging behaved in a right-handed fashion.

Quote from MOM

@SkyFire

Is Kawasaki LHR or RHR?

RHR, from everything I could determine. Just has the World frame rotated +90deg around Z compared to Fanuc, ABB, or KUKA, relative to the physical base. So Y+ is "forward" instead of X+.