Moving Wobj by Robtarget

RAPID Programming
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1

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?

2

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?

3

Yes, it’s just one point.

wobj_2 is not the same as wobj_1.

4

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! :smile:

5

Thanks, I’ll try it

6

I tried this code, guillaumebatun, and it’s working. Thanks a lot for the tip!

7

I tried this code, guillaumebatun, and it’s working. Thanks a lot for the tip!

8

Nice code, guillaumebatun! It’s working for me. Thanks for the tip!!!