Why do you want to use both axis angle correction and cartesian correction?
Posts by Spl
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This applies to all cases where you can't connect to a device. If your ip settings seem to be ok, and you still can't connect to a device or ping it, launch Wireshark and see if any packets are actually transmitted. If no packets are transmitted, disable firewall and try again. If you still can't see any packets being transmitted, there's most likely something wrong with the network or your ip settings are still wrong.
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Move the KL9010 to the end because it's a bus end terminal ie. it's supposed to be the last card at the bus.
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Ok. So if you used opencv's solvepnp and rodrigues methods to build a 4-by-4 homogeneous transformation matrix from the table coordinate system to the camera coordinate system, just multiply any camera coordinate system points with the homogenous transformation matrix, and the points should be in the table coordinate system. And if you have defined the table coordinate system as a base for the robot, you should be able to pick objects from the table.
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So, is there still a problem you want us to help with?
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Intrinsic parameters define lens distortions so that the raw image can be corrected. Extrinsic parameters define the camera's pose in the world coordinate frame ie. robot coordinate frame. If you want the camera localization to be as accurate as possible, you need both parameters, but extrinsic parameters you must to define, if you want to localize the objects to the robot's coordinate frame.
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AFAIK, there's no "debug console" where you can print debug messages like you can with c/c++ and etc.
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Depth camera or DSLR? With DSLRs you need more than one camera to find a point in 3D space.
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When you say the robot's coordinate system is inaccurate, do you mean that the mastering of the robot is incorrect? If it's mastering problem, can't you remaster the axes yourself?
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I guess you didn't read the documentation about msgbuf_t or checked if there's anything in the msg_txt[].
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Try using SWRITE for writing data to the msg[] array instead of the direct assignment.
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> I'm also confused by the +24V power contacts on Digital modules, specially on the input since it is suppose to recieve voltage, not generate it...
The +24V pins are connected to the Beckhoff's bus voltage, so there's always 24V present in those pins.
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Transform the euler angles to rotation matrix, multiply the resulting matrix by rotation matrices Rx', Ry', and Rz', and transform the resulting matrix back to euler angles. You can do the euler<->matrix transformations by using RPY_TO_MAT/MAT_TO_RPY methods that can be found inside kue_weg.src in folder C:/KRC/UTIL on any KRC installation.
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As I understand it from the documentation...
x : multiple one byte objects, that can be read individually ie. x4 = 4 one byte objects
xx : one data object in bytes ie. xx4 = one data object which size is 4 bytes -
I can't think of why it wouldn't work.
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https://en.wikipedia.org/wiki/Network_address_translation
Basically you can configure to a NAT router how devices behind it are shown to the outside network. So, behind a NAT the network configuration can be anything, and the IP-addresses won't be visible to the outside. With port forwarding inside a NAT, you can connect devices' visible IPs to their real IPs, so even though their real IPs are not visible to the outside, they can still be connected to by the IPs that's configured to the NAT.
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At least one of you seem to know
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You could maybe put the new controller behind a NAT. This way you could give the controller an IP that's only visible to the old network, and it would still have its internal network as is.