I'm sorry, actually that was my first post so not really sure how the threads worked and not really sure if i should create own thread but it builds off of video servoing with a Kawasaki arm.
So back to Kawasaki robots!
Like I mentioned earlier I will be attempting something very similar to this on a FS30L using a D+ controller, it is the only thing I had accessible to work with. I created a callback function that allows me to update the robot's pose with respect to X,Y,Z,O,A,T while searching for a new location to be defined by the image classification. I don't know if there is an easier way to do this with the D+ controller, would love to know if anyone else has manged to create an online programming method in a different way. In the past I have been using LMOVE as my understanding is that LMOVE is with respect to the robots base frame. However, if i wanted to add a fixed tool tip and start using the FLMOVE command instead. Does that mean the robot will now traverse with the respect to the fixed tools axes or simply still move in respect to base frame coordinates with the tool tip at the center of the defined pose?
The overall scope of the project is to play a game of billiards vs the robotic arm, the fixed tool is a linear motion device I have made to simulate a pool stroke. Ideally I would like to image classify the balls, determine shot, and then communicate to the robot to LMOVE to center location of the cue ball with respect to the tool tip. So that no matter what after actuation the tool tip will effectively strike directly through the middle of the cue ball. I am Just getting confused with defining the tool tip and the associated commands to use, as the FS30L has a rather strange home position, with joint angles at [0 0 0 0 0 0], places the robot into singularity at a complete vertical position. Which we no the Kawasaki doesn't like, at all. Do you happen to be familiar with this, I have all the PDFs associated with the robot and have read it numerous times, there is something I am just not grasping.