Moving Wobj by Robtarget
Dzmitry
Poland ✭
Hi,
I have a point P1made in wobj_1 and point P2 made in wobj0. I need to create wobj_2 that way that the coordinate P2 in wobj_2 should be the same as P1 in wobj_1.
Are there some functions like "Adjust Robtargets" that can do that?
I have a point P1made in wobj_1 and point P2 made in wobj0. I need to create wobj_2 that way that the coordinate P2 in wobj_2 should be the same as P1 in wobj_1.
Are there some functions like "Adjust Robtargets" that can do that?
Answers

Can you elaborate some more please? Is it really just one point or are you talking many points? Is wobj_2 exactly the same as wobj_1 or different?Lee Justice

Yes, it's just one point.
wobj_2 is not the same as wobj_1. 
I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)
PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?
Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out! 
guillaumebatun said:I have not tested this but basically this is a matrix equation.
Both poses have in common that they end up in the same pose wrt to the robot base.
So P2 in wobj2 = P1 in wobj1
PoseMult(Wobj2.pose,P2.pose) = PoseMult(Wobj1.pose,P1.pose)
PoseMult(PoseMult(Wobj2.pose,P2.pose),PoseInv(P2.pose)) = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
this is what I am unsure about, does the left side equal wobj2 now?
Wobj2.pose = PoseMult(PoseMult(Wobj1.pose,P1.pose),PoseInv(P2.pose))
Try it out!
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