Get a pose According to an user frame - Printable Version

Get a pose According to an user frame- Printable Version

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Get a pose According to an user frame-David Akiba90-07-30-2020

Hi everyone , i'm trying to get the actual pose of my robot according to a frame selected by the user.
I need this , because i'm comparing the actual pose with a target which has been defined according to an user frame.

My problem is , when i got the actual pose of my robot , it's got it according to the robot base .

(Ps : everything is made as online programming )

1: The user pick a frame , and i use SetPoseFrame() for changing the reference frame ( doesn't seem to work)

        Code:

        # user picck a frame
FRAME = RDK.ItemUserPick('Select a reference frame', ITEM_TYPE_FRAME)
ROBOT.setPoseFrame(FRAME)
       

2: I ask for the joint and i solve the forward kinematic , then i have the actual pose of my robot and i find the xyz coordinate

        Code:

        ##----------------robot position --------------##
robot_joints = ROBOT.Joints()
robot_position = ROBOT.SolveFK(robot_joints)
xyzRxyz=Pose_2_TxyzRxyz(robot_position)
       

3: i get the pose of the target selected by the user

        Code:

        ##--------------------collision target-----------##
targetCollide =RDK.ItemUserPick('Select a collide target', ITEM_TYPE_TARGET)
poseCollide= targetCollide.Pose()
xyzRxyzCollide=Pose_2_TxyzRxyz(poseCollide)
       

when i compare by example the both x coordinate , for the target x cordinate i got it according to the frame choosen by the user concerning the actual x position it's according to the robot base.
I would like to know if there is an elegant way to get the robot position according to an user frame ?

I finally figured it ou , i used this instead :

        Code:

        # user picck a frame
FRAME = RDK.ItemUserPick('Select a reference frame', ITEM_TYPE_FRAME)
ROBOT.setPoseFrame(FRAME)
       

        Code:

        robot_joints = ROBOT.Joints()
ROBOT.setJoints(robot_joints)
#robot_position = ROBOT.SolveFK(robot_joints)
#xyzRxyz=Pose_2_TxyzRxyz(robot_position)
robot_position=ROBOT.Pose()
xyzRxyz=Pose_2_TxyzRxyz(robot_position)
       

RE: Get a pose According to an user frame-Albert-08-03-2020

I don't think the solution you provided is correct. You should pre/post multiply poses to properly calculate a pose with respect to a reference frame and a specific tool.

If you have a tool and a reference and you want to calculate the pose of given robot joints you should do this:

        Code:

        robot = RDK.ItemUserPick("Select a robot", ITEM_TYPE_ROBOT)
tool = robot.getLink(ITEM_TYPE_TOOL) # Get the active tool item
reference = robot.getLink(ITEM_TYPE_FRAME) # Get the active reference of the robot
tool_pose = robot.PoseTool() # pose of the active tool (with respect to the robot flange)
reference_pose = robot.PoseFrame() # pose of the active robot reference (with respect to the robot base)

# Calculate the relative target given joint values:
关节=(10、20、30、40、50,60]
pose_robot = robot.SolveFK(joints) # pose of the robot flange with respect to the robot base

# Calculate the pose of the TCP with respect to the reference frame:
pose_target = reference_pose.inv() * pose_robot * tool_pose
       

More information here to better understand the relationship:
//m.sinclairbody.com/doc/en/Interface.html#RobotPanel