IF reach = ERR_ROBLIMIT OR reach = ERR_OUTSIDE_REACH or reach = ERR_WOBJ_MOVING THEN Jointpos := CalcJointT(pick_point, suction \ErrorNumber:= reach) -> calculates the robot reach with respect to base. I'm using reltool function to pick the object. Before moving to the position I need to check whether the robot can able to reach the position or not. The 3D camera gives the coordinates to the robot. ![]() ( note - This is the method which I follow, different people use different methods ) Movel offs ( camera_origin, cam_x,cam_y,0), v1000,fine,tool0 ! pick point Movel offs ( camera_origin, cam_x,cam_y,100), v1000,fine,tool0 ! safe pose Next thing, align the camera's positive
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