Hi all,
I am measuring some parts with holes with a laser sensor. I can locate the center of the holes and after I have located the center, the sensor frame moves on the holes so laser beam and hole center align, there is a also a distance between last sensor and hole. I want to process the holes with a tool that is fixed on the same flange but at 90 degrees to the laser sensor.
I have tool data for the laser sensor and processing tool. I'm using a user frame where all measuring points are located.
I want to reach the point of sensor frame with the tool tcp but don't know how, so far I tried to use mshift to get the shift values Pt to Ps (refer to the figure) and applied to but get error of "invalid position". Another way, I can think of is to rotate the flange to rz by 90, stop there and get the robot posted in xyz, and then shift this point to center of home by the difference in tool and sensor tcp. I am sure there must be some motoman function for the same procedure.
Can someone has any idea, how this can be done?
Thank you!