[Kees12Programming]

Hello,

Im trying to make a program that can automatically add targets to RoboDK based on the tool position.
I am stuck in translating the rotation into my targets.

Code:

ref_frame = kuka.Pose()
pos_ref = ref_frame.Pos()

#targets = np.array([[0]*3]*len(xcoordinates))
targets = []
target = np.array([])




我的范围(0, len(xcoordinates)):
target = transl(ycoordinates[i], xcoordinates[i], 0)*pos_ref
targets.append(target)


prog = RDK.AddProgram('ForwardAuto')
prog.setTool(tool)
prog.setRounding(10)
prog.setSpeed(speed_linear=speed, accel_linear=accel)

我的范围(0, len(targets)):
ti = RDK.AddTarget('AutoTarget %i' % (i + 1))
pose_i = ref_frame
pose_i.setPos(targets[i])
ti.setPose(pose_i)
ti.setAsCartesianTarget()
prog.MoveL (ti)

The list of coordinates is very simple, its split in 2 seperate arrays. the list is increasing and supposed to be from left to right. translated for the first position to be 0,0
example: xcoordinates = [0, 10, 30, 40, 50], ycoordinates = [0, 1, 3, 1, -1]
This works fine, but when i rotate the robot my targets are placed in the wrong direction. so i want to either correctly translate the targets to just follow the tool coordinate system, i think this is the correct approach. Or i want to be able to translate the targets to be -1 when the base axis is over a treshhold.

a picture to show the setup in roboDK is attached

You can see the positive direction of the kuka frame is to the left, but i want to add points going to the right. You can also see the many points created going from the start towards the left, instead of to the right to finish.

[Albert]

If you want to make movements relative to the current robot pose you should replace this line:

Code:

target = transl(ycoordinates[i], xcoordinates[i], 0)*pos_ref

By this one:

Code:

target = transl(ycoordinates[i], xcoordinates[i], 0)*ref_frame

The first one translates a point while the second one translates the pose.

[Kees12Programming]

When i replace that line, i get an error message.

self[0, 3] = newpos[0]
~~~~^^^^^^

raise Exception(MatrixError, "Submatrix indices does not match the new matrix sizes", itmsz[0], "x", itmsz[1], "<-", newm, "x", newn)
Exception: (, 'Submatrix indices does not match the new matrix sizes', 1, 'x', 4, '<-', range(0, 1), 'x', range(3, 4))