06-08-2022, 10:57 AM
Hello,
我新RoboDKnd robots in general, and I got problems with orientation and rotation of the tool.
My task is to build a "simple scanner" for inspection.
A Sensor is attached to a UR5e and I want to move the sensor to a number of points, to look at the target from different angles. Therefore, I need to move the arm to certain position and then orient the sensor, so that the (e.g.) X-Axes of the Tool Frame points at a fixed point. Moving to the point is no problem, but the rotation of the Tool gives me a headache. I tried calculating the necessary rotation angles, but they are somehow wrong.
I attached my current script. Does anyone know where my error lies in calculating the rotation, or is there a better approach to keeping a fixed focus on a point? I want to script the movement via python because in later stages of the project, I want to send trigger impulses when a point is reached and continue when the measurement is finished.
Thank you for your help
我新RoboDKnd robots in general, and I got problems with orientation and rotation of the tool.
My task is to build a "simple scanner" for inspection.
A Sensor is attached to a UR5e and I want to move the sensor to a number of points, to look at the target from different angles. Therefore, I need to move the arm to certain position and then orient the sensor, so that the (e.g.) X-Axes of the Tool Frame points at a fixed point. Moving to the point is no problem, but the rotation of the Tool gives me a headache. I tried calculating the necessary rotation angles, but they are somehow wrong.
I attached my current script. Does anyone know where my error lies in calculating the rotation, or is there a better approach to keeping a fixed focus on a point? I want to script the movement via python because in later stages of the project, I want to send trigger impulses when a point is reached and continue when the measurement is finished.
Thank you for your help