How an attached object to a robot can be placed in a specific poisition and rotation on a target?

Yaserai

Hi,
I'm new to RobotStudio, so I hope that my problem is so simple for you
It's all about rotation and dispalcement of an object around a target in a workobject.
I'm working on a project that deals with robotization a manuel nut welding. Arange of metal plates should be welded together with nuts by using a robot and nut welding machine.
In the simulation I've faced a problem actually, and my question is:
How to palce all holes that existed on a plate one by one on a target in a workobject?
In other words How can I know how much I shiould rotate and move the plate that has been attached to the robot's tool?
The holes on the plate should be placed exactly on the target (nut tooling) in the welding machine.
Robot's tool(vaccum gripper) hold the plate from the middile point and there're many holes that allocated randomly. I have the dimension of the plate and all holes location, if that makes any sense.
I'd upload the pack and go file but don't know how to do it here. but I can mail it for sure.

Any sort of help it'd be appreciated

PerSvensson

Hi 

Here is a simple P&G

PerSvensson

Hi
One way is to recalculate the tcp position. I usally do this in palletizing applications
And the normal flow could be like this
Define a orignal tcp

Copy that tcp into like a temporary tcp
Recalculate the temporary tcp (x,y,z,rx,ry,rz) depending where your holes are.
do the motion using the temporary tcp
 

Yaserai

Thank you for taking your time to write an answer.

I don't really know which funktion should I use to do this.
Is it a CRobT or which one?
What about Posemult? doest this help ?
As you see in the picture below , there are many holes on the plate and let say the right hole is x=350 and y=150 from the TCP.
Would you plz explain it a littile bit more for me?

Yaserai

The file you've sent me was really helpfull.
A big thanks to you PerSvensson