Yes, the problem is you can't PTP/LIN to the origin of a Base because the orientation parameters won't fit. ( If it is measured via 3 Point Method)
You have to create a point referenced to the base.
Posts by TimW
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Okay, finally found the (way to easy) solution.
I could not ptp() to my base, I had inherit a new Point P1 so : /Base/P1 and no it works fine, also with P1.copy() -> .setX()
Topic, can be closed!
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Dear Users,
I want to move on a table which is no perfectly aligned with the world coordinate system.
For this I've measured a base (3 Point Method, Tool TCP Frame) but I can't reach it.
When I'm trying to move the tcp frame to the base (imported by getApplication Data), I'll get an exception, telling me the point is unreachable.
If I teach the frame via the Frame View with touchup, the frame is reachable.
I want to move the iiwa to the base frame and then create a snapshot of it with .copy and manipulate it with .setX()/getX(),(...).
With the KRC4 I just calibrated a base and executed my movement referenced to the base.
With Sunrise, I've figured out so far: all absolute lin/ptp movements are calculated in World coordinates.I think I somehow have to transform my frames to world coordinates, how do I do it?