[Jonatanlaz]

Hello.

I would like to program some trajectories directly with the Polyscope of my UR-5e. The waytpoint values are saved with respect to the frame of the robot's base. Before executing the program, I measure some points of my part and align it with three points, creating my new frame. Is there any method so that the trajectories that I previously program with the Polyscope save them with respect to the new frame that I have created? I always need to align my robot to the part before I start running the program.

Thansk!

[Jeremy]

I think the fact that your waypoints are saved with respect to the robot base will complexity things a bit.

Is your part always the same but its position changes a bit?
You are only talking about Polyscope, where is RoboDK in your process.

Jeremy

[Jonatanlaz]

That's it. The position of the different parts changes only tenths. On this occasion, I would like to program the trajectories directly with Polyscope because I do not have the necessary information to do it with RoboDK.
Thanks.

[Jeremy]

If you create a program using relative motion with RDK you should be able to simply overwrite the "ref_frame" variable from the .script file.

What post-processor are you using?.

Jeremy