Posts by Magik07

Quote from greengrape83

If you want to specify the x,y direction of you base, you need to specify more(like x goes along ab direction) because the right hand law only can decide Z direction

So for exemple, if i want the right angle between the new and the former base, i think i'll use the trigonometry ( Tangent ?) or is there a better option ?(see attached picture).
Thanks.

Hi,

Yes effectively, i don't do any transformation, i'll try TransformationFromWorld later, (For the moment i'm working at distance from my robot, it's not that easy), so the 3 Frame a,b and c :

a= [532.5, 1, -160.7, -60.7, 0.2, -0.002, 3.1]

b= [532.5, 1, -331.9, -60.7, 0.2, -0.002, 3.1]

c= [637.7, 1, -160.6, -60.3, 0.2, -0.002, 3.1]

And my base must be : [ 532.5, -160.7,-60.7, -1.6 rad, -0.001 rad, 0.004 rad]

This is the base i get with the SmartPad function.

Thanks.

Hello,

I try the function on the Robot, but I Have a little Problem :

At the end, I get a result like this :

[ 0, 0, 0, 1.30, 0.5, 3.14 ]

There is no transformation of translation, I don't even know how to do it, Do you know the mathematical formula to calibrating a base ?

Thanks

Thanks,

I think i'll put it in string so.

Bye

Hello,

I have a question about the process data, i know it's possible to set a process data of different type, like this exemple :

<processData displayName="Example Integer" dataType="java.lang.Integer" defaultValue="0" id="counter" min="0" max="100" value="82"/>

But, i want to know if it's possible to have a frame instead of an int ? because I calculate a base with 3 points but i want to save it, like this i will not lose this data when i shutdown the robot.

Thanks.

Thanks,
So i'll keep my solution, i don't want to take risk .
Bye

Thanks for reply

Here is my function, if the user answer is "Oui", the application is still running, but if the answer is "non", i wan't to quit the application, here i made a boolean Abort that i set on true if the answer is "non", so it kill the application because i put an IF loop with the (!Abort) condition.

My question is, Can we do that more simply ? ( I know that on ABB robot there is an "Abort" Function who quit the application ).

int CyManu = getApplicationUI().displayModalDialog(ApplicationDialogType.QUESTION, "Voulez-vous éxécuter le cycle en mode T1 ?", "Oui", "Non");
switch(CyManu) {
case 0:
//oui
break;
case 1:
//non
abort = true ;
break;

Thank for the reply, but i want to do it in soft, for exemple, stop the application if a condition isn't fulfilled.

Hello,

I have a simple question, can we kill the running application with a simple Command ( function abort for exemple or something like that ) ?

Thanks

Thank you very much.
i'll test it next week, i send you a throwback when it's done.
Bye.

Thanks for answer me.
I understand what you mean until this moment :

double rotAngle = startZ.angleRad(direction);

Vector rotAxis = null;
if (rotAngle == 0.0 rotAngle == Math.PI)
{
rotAxis = Vector.of(1.0, 0.0, 0.0);
}
else
{
rotAxis = startZ.crossProduct(direction);
}

return new Frame(a, Transformation.of(Vector.of(0.0, 0.0, 0.0), AxisAngleRotation.of(rotAxis, rotAngle)));

I don't understand what are RotAngle and RotAxis, and i don't understand the return frame, can you explain more please ?
Sorry for my bad English.

Hello,
i'm actually working on a Kuka iiwa r800, i want to calibrating a base with 3 point, i want to do it directly in the script, not in the SmartPad. Is there any function that already exist ?
Thanks