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Camera simulation – Frame not reachable

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nushka
Convidado

23 de Abril, 2022 às 15:55

Número de artigos: 172

#874

Hi there!

I am working on a setup for a few days now, and it’s driving me nuts.

Currently, I am creating a setup where a UR 10 takes a piece from a pallet, places it into a null position holder. Takes it out from the other side and put it on the table.
I am stuck at the point where the piece needs to be placed at the null position. I am getting the message: target cannot be reached. It sounds strange for me because that 0 point is near the robot…

I used the demo file: Camera simulation with 2d camera.

Could somebody please be so kind to help me out?

roboterly
Convidado

23 de Abril, 2022 às 17:46

Número de artigos: 172

#959

this piece of code should help:

Code:
# ———– place the box i on the convegor ——
# approach to the conveyor
robot.setPoseFrame(null_position_holder)
robot.MoveJ(target_null_safe)
robot.MoveL(eye()*roty(-pi))

You were applying the distance between the robot base and the NullPositionHolder frame twice.
Once with the setPoseFrame and once with the motion. The pose you were trying to reach was therefore twice as far.

nushka
Convidado

25 de Abril, 2022 às 12:25

Número de artigos: 172

#960

hi

Thanks for your fast reply! In what lines did I added the distance twice? Jus to learn from.

roboterly
Convidado

25 de Abril, 2022 às 18:13

Número de artigos: 172

#961

85 – 86

85 -> You set the frame, so the new (0,0,0) is where the frame is.
86 -> You take the frame position with respect to its parent, which represents the same translation as what you did on line 85.
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