Pose difference using MoveL/MoveJ using python- Printable Version +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API) +--- Thread: Pose difference using MoveL/MoveJ using python (/Thread-Pose-difference-using-MoveL-MoveJ-using-python) |
Pose difference using MoveL/MoveJ using python-geogeo-02-04-2022 Hi, I'm working with KUKA Kr6 and i tried to move the robot along the z axis of the TCP. In order to do that, i created a function offset based on what I saw on roboDKapi documentation : def Offset_pose(robot:robolink.Item,dist): target_ref = robot.Pose() target_i = Mat(target_ref) pos_i = target_i.Pos() pos_i[2]=pos_i[2]+dist target_i.setPos(pos_i) print('pose voulue') print(target_i) robot.MoveL(target_i) 看来,当我使用这个函数机器人move but not at the right place. For example: Pose at the beginning Pose(558.226, -97.864, 151.368, -180.000, 0.000, 0.000): [[ 1.000, -0.000, 0.000, 558.226 ], [ -0.000, -1.000, 0.000, -97.864 ], [ 0.000, -0.000, -1.000, 151.368 ], [ 0.000, 0.000, 0.000, 1.000 ]] Desired pose Pose(558.226, -97.864, 201.368, -180.000, 0.000, 0.000): [[ 1.000, -0.000, 0.000, 558.226 ], [ -0.000, -1.000, 0.000, -97.864 ], [ 0.000, -0.000, -1.000, 201.368 ], [ 0.000, 0.000, 0.000, 1.000 ]] Pose after using Offset_pose(robot,50) Pose(557.762, -98.563, 200.910, 179.900, 0.152, 0.026): [[ 1.000, -0.000, 0.003, 557.762 ], [ -0.000, -1.000, -0.002, -98.563 ], [ 0.003, 0.002, -1.000, 200.910 ], [ 0.000, 0.000, 0.000, 1.000 ]] So my question is : is it common to have a difference between the the Desired pose and the real pose using MoveL? When I use MoveJ instead of MoveL there is no difference between the Desired pose and the real pose. RE: Pose difference using MoveL/MoveJ using python-Jeremy-02-08-2022 Why don't you use the Offset or RelTool function available in the API? //www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.robomath.Mat.Offset Jeremy |