The following code is an example Python script that uses the RoboDK API to filter a target (pose target or joint target), using theFilterTargetcommand:

pose_filt, joints = robot.FilterTarget(nominal_pose, estimated_joints)

This example is useful if a 3^rdparty application (other than RoboDK) generates the robot program using pose targets.

fromrobolinkimport*# API to communicate with RoboDK

fromrobodkimport*# basic matrix operations

defXYZWPR_2_Pose(xyzwpr):

returnKUKA_2_Pose(xyzwpr)# Convert X,Y,Z,A,B,C to a pose

defPose_2_XYZWPR(pose):

returnPose_2_KUKA(pose)# Convert a pose to X,Y,Z,A,B,C

# Start the RoboDK API and retrieve the robot:

RDK=Robolink()

robot=RDK.Item('',ITEM_TYPE_ROBOT)

ifnotrobot.Valid():

raiseException("Robot not available")

pose_tcp=XYZWPR_2_Pose([0,0,200,0,0,0])# Define the TCP

pose_ref=XYZWPR_2_Pose([400,0,0,0,0,0])# Define the Ref Frame

# Update the robot TCP and reference frame

robot.setTool(pose_tcp)

robot.setFrame(pose_ref)

#非常破碎nt for SolveFK and SolveIK (Forward/Inverse kinematics)

robot.setAccuracyActive(False)# Accuracy can be ON or OFF

# Define a nominal target in the joint space:

joints=[0,0,90,0,90,0]

# Calculate the nominal robot position for the joint target:

pose_rob=robot.SolveFK(joints)# robot flange wrt the robot base

# Calculate pose_target: the TCP with respect to the reference frame

pose_target=invH(pose_ref)*pose_rob*pose_tcp

print('Target not filtered:')

print(Pose_2_XYZWPR(pose_target))

joints_approx=joints# joints_approx must be within 20 deg

pose_target_filt,real_joints=robot.FilterTarget(pose_target,joints)

print('Target filtered:')

print(real_joints.tolist())

print(Pose_2_XYZWPR(pose_target_filt))