04-12-2023, 03:13 PM
Hi Albert,
I managed to generate an output file. The problem is that a linear movement is divided into smaller linear movements.
This is not what I want because the post processor uses the cartesian coordinates of a target in the rotation table frame (this frame rotates with the rotation table). As shown in the attached image, I placed the first target somewhere in the 'Part frame', then rotated the rotary table 180 degrees and placed another target in that spot. Then I moved the robot back a bit to see the two targets.
When the moveL command in 'Prog1' goes through a custom post processor of universal robots, the post processor gives a pose for the ur10 robot to reach the target 2 based on the coordinates in the 'Part frame' , but without using the rotation table, impossible can for only the ur10 robot.
Is there a way to put the targets in a non-rotating reffrence frame and do the rotation of the rotation table joint via a separate joint movement?
Thanks in advance for your time,
Greetings Bram
I managed to generate an output file. The problem is that a linear movement is divided into smaller linear movements.
This is not what I want because the post processor uses the cartesian coordinates of a target in the rotation table frame (this frame rotates with the rotation table). As shown in the attached image, I placed the first target somewhere in the 'Part frame', then rotated the rotary table 180 degrees and placed another target in that spot. Then I moved the robot back a bit to see the two targets.
When the moveL command in 'Prog1' goes through a custom post processor of universal robots, the post processor gives a pose for the ur10 robot to reach the target 2 based on the coordinates in the 'Part frame' , but without using the rotation table, impossible can for only the ur10 robot.
Is there a way to put the targets in a non-rotating reffrence frame and do the rotation of the rotation table joint via a separate joint movement?
Thanks in advance for your time,
Greetings Bram