The 3d stuff was done with helixtoolbox.
You can zoom in and out. Also do rotations
see example
The 3d stuff was done with helixtoolbox.
You can zoom in and out. Also do rotations
see example
The 3d stuff was done with helixtoolbox.
Only can find helix toolkit !?
The name is helix toolkit.
The source code can be found on github.
The compiled library can be found on nuget
I missed this question
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:
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)
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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....
@SkyFire
check post #31 - there you will find the table
@SkyFire
you also may check post #35 (pose calculator)
@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!
Actually I just remembered (back in 1990) KUKA used Siemens Sirotec RCM as Robot controller.
The orientation was also LHR (Angle A: math. positive, Angle B: math. negative, Angle C: math. positive)
(so it always was RHR- sorry for the confusion)
They made the calculation using RHR and then inversed Angle B
Could this be the same with your described problem?
But as I said the was decades ago
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.
@SkyFire
Is Kawasaki LHR or RHR?
@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+.