# Problem with calculation of a wobj

**URL:** <https://tech-community.robotics.abb.com/t/problem-with-calculation-of-a-wobj/4334>\
**Category:** Robot Controller\
**Created:** [July 29, 2011, 3:38pm UTC](https://tech-community.robotics.abb.com/t/problem-with-calculation-of-a-wobj/4334 "2011-07-29T15:38:19Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Cricke](https://avatars.discourse-cdn.com/v4/letter/c/3be4f8/32.png) [@Cricke](https://tech-community.robotics.abb.com/u/Cricke)\
**Post date:** [July 29, 2011, 3:38pm UTC](https://tech-community.robotics.abb.com/t/problem-with-calculation-of-a-wobj/4334/1 "2011-07-29T15:38:19Z")

</div>

Hi !

I have a problem with my calculation of a robholding workobject. I’m using a Visionsystem to localize and find the origin of the wobj.

It looks like this in the start of the calculation.

PERS tooldata tGripare:=[TRUE,[[0,0,175],[0,1,0,0]],[3,[8.5,-41.3,136.7],[1,0,0,0],0,0,0]];

!Workobjekt side 1,(robhold):  
PERS wobjdata wobjSida1:=[TRUE,TRUE,“”,[[-0.494935,10.8764,342.85],[0.501318,-0.497505,0.498674,0.502488]],[[0,0,0],[1,0,0,0]]];

!Berakna grund workobjekt sida 1. (VA?nstra tornrad ovanifrA?n)  
!Kopiera koordinater frA?n verktygsdata;  
wobjSida1.uframe.trans:=tGripare.tframe.trans;  
!Kopiera orientering frA?n verktygsdata tool0  
wobjSida1.uframe.rot:=tool0.tframe.rot;  
!FA?rskjut i X-led frA?n tool0  
wobjSida1.uframe.trans.x:=wobjSida1.uframe.trans.x+(-1.53);  
!FA?rskjut i Y-led frA?n tool0  
wobjSida1.uframe.trans.y:=wobjSida1.uframe.trans.y+(11.35);  
!FA?rskjut i Z-led frA?n tool0  
wobjSida1.uframe.trans.z:=wobjSida1.uframe.trans.z+(168);  
!Rotera utifrA?n tool0  
wobjSida1.uframe.rot:=OrientZYX(90,90,0);

And after I have made this calulation, I do several of OrientZYX becuase to get good accuarcy witxh X,Y and Angle coordinats from the visionsystem . I get a constant fault by 0.3 degrees angle and I have get closer to zero.

Does anybody know a better calculation for a Robhold workobject. I know that OrientZYX is not that perfect. I made a own to get some more decimals.

Best regards

Christian