Keep TCP orientation when using object frame in vision system

ceppo · August 2020

Hello,

I'm using integrated vision to locate and pick up parts. Location of part is given to robot by moving the object frame like this: wCam.oframe:=camTarget.cframe; and then robot is moved to that position with Offs command: MoveL pPickObject,vFast,fine,tGripper\WObj:=wCam;

The problem is that as the parts I'm picking are round there is no need to rotate the tool when picking them up so how can I make it so that the tool won't rotate? I want to keep it in specific angle to minimize change of collision.

lemster68 · August 2020

Break it down to just the pos: wCam.oframe.trans:=camtarget.oframe.trans;

ceppo · August 2020

That gives error: Reference to unknown component oframe.

lemster68 · August 2020

In your post was this:
wCam.oframe:=camTarget.cframe;

I assumed that camtarget.cframe; was a typo for .oframe, was I wrong? or is your data .cframe?

ceppo · August 2020

Yes it is cframe there is no typo.

ceppo · August 2020

I found the solution to this myself and it was quite a simple one. There was a possibility to send an constant angle to robot from integrated vision so that solved the problem.

Keep TCP orientation when using object frame in vision system

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