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+--- Thread: VB.NET Setting pose UR10e [FIXED] (/Thread-VB-NET-Setting-pose-UR10e-FIXED)
VB.NET Setting pose UR10e [FIXED]-awiley-04-23-2019
When I try and set a pose for the UR10e it does not move to the correct rpw.
"Dim testPoint As Mat = Mat.transl(x, y, z) * Mat.rotx(Deg_to_Rad(i)) * Mat.roty(Deg_to_Rad(j)) * Mat.rotz(Deg_to_Rad(k))"
矩阵,我想设置对。It works if one of the numbers is different than 0, but not if multiple are different than 0.
Thank you for any help!
Fix:
Private Function Deg_to_Rad(deg As Double) As Double
Return ((deg * Math.PI) / 180)
End Function
Dim moveTo As Double() = {x, y, z, Deg_to_Rad(i), Deg_to_Rad(j), Deg_to_Rad(k)}
Dim testPoint As Mat = Mat.URToPose(moveTo)
ROBOT.setPoseFrame(FRAME)
ROBOT.setPose(testPoint)
This will allow the robot to move to a point and then set a target, this will let you set the XYZ and RPW.
RE: VB.NET Setting pose UR10e [FIXED]-Jeremy-04-25-2019
Pretty good job.
Up voted!
Jeremy