Change the coorditante frame reference.

RobotStudio
1

Hello guys,

I’m trying to solve a visual servoing problem. I need to increment little values in the X,Y,Z directions and do the same to the orientation angles.

The problem is: when the tool is aligned with the X-axis of the base coordinate system, increments in the X provides a forward movement (and that’s ok!), but when the tool is aligned with the Y-axis of the base coordinate system, increments in X, provides lateral movements on the tool (in relation to the tool coodinante frame) and I would like that the tool movement was forward in relation to the tool coordinate system.

So, how can I change the reference coordinate system?

I hope you can clarify my doubts.

Thanks in advance,

Diego Cesar

2

Hi,

For the guys who can have the same problem, after think about my problem and read the Rapid’s manual, I found a function RelTool( ) that solved my problem. So, I could use MoveL RelTool( ) to do an increment in relation of the tool coordinates. You can take a look on the Rapid Manual and see if this function figure out your specific situation.

Thanks for all,

Diego Cesar