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+--- Thread: control rz axis seperately (/Thread-control-rz-axis-seperately)
control rz axis seperately-timothy-08-24-2021
Hi sirs,
I have another question, is there a python function (command) to control Rz axis separately?
In my project, I need to turn the tool(gripper) to a certain angle. I will turn the Rz(every time will be in different angle) after I move the robot to a coordinate (eg (x,y,z, -30, -30, Rz)). But when I turn the Rz the robot went to other coordinate.
I tried to move the track-bar of θ6 manually. Although the rx,ry is changed, the movement is exactly what I want.
if I can't turn Rz without affect the position of the other two axes, can I calculate the angles? When I move the θ6, the other axes changed, I think it must according to some formula.
thank you
再保险:控制rz轴是分开的-Vineet-08-24-2021
I think you are looking for RelTool(). This sample code should help you fix your issue.
Code:
robot = RDK.Item('',ITEM_TYPE_ROBOT)
pos1 = robot.Pose()
pos2= RelTool(pos1,0,0,0,rz=90)
robot.MoveJ(pose2)
再保险:控制rz轴是分开的-timothy-08-27-2021
It's a very helpful solution for me, Thank you very much!