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GetPoseAtLocation(), Seven-axis Robot

Valued Contributor
Valued Contributor

Hi,

I try to get pose data by use GetPoseAtLocation(), but the pose data is not correct when the robot has its seventh axis, how to get the correct pose data in this situation?

 

poseData = iRobotOrderedCompOp.Robot.GetPoseAtLocation(iRobotLocaOp);

Thanks.

5 REPLIES

Re: GetPoseAtLocation(), Seven-axis Robot

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

What exactly is not correct?

GetPoseAtLocation() returns a list of JointValues.

The values are in "Rad" for rotary axes.

 

Best regards

Patrick

Re: GetPoseAtLocation(), Seven-axis Robot

Valued Contributor
Valued Contributor

Hi @PatrickUnangst

 

The Joints value is not correct (sometimes it works correctly), but I do not find the reason. The via 164-162 joints is correct, but FFS is wrong.

 

 

2018-06-15_164227.png

 

the code may like this:

try
{
	poseData=iRobotOrderedCompOp.Robot.GetPoseAtLocation(iRobotLocaOp);
}
catch(Exception)
{
	poseData=null;
}
if(poseDataisnull)
{
	TxRobotrob=iRobotOrderedCompOp.RobotasTxRobot;
	if(JumpLocation(iRobotLocaOp,rob))
	{
		poseData=rob.CurrentPose;
	}
	else
	{
		throw;
	}
}

thanks

Re: GetPoseAtLocation(), Seven-axis Robot

Siemens Phenom Siemens Phenom
Siemens Phenom

Hi,

 

Which type of 7axis robot are you using?

Are your locations taught?

 

You are using a function "JumpLocation".

A robot can reach a location with different axis values (configurations).

Try to teach the location or use a different inverse.

 

If you use the generic inverse then the result for the robot joints is unpredictable.

When using the 7RAxisInverse then it should be possible.

 

Best regards

Patrick

Re: GetPoseAtLocation(), Seven-axis Robot

Valued Contributor
Valued Contributor

Hi @PatrickUnangst

 

first, I'm sorry, the robot I used is not 7-axis, it has an external axis.

 

yes, these locations have been taught. and if I do not use the GetPoseAtLocation(), only use the JumpLocation(), the all joints value are correct. but the method may take some time, so how to get the pose data more efficient? or do you know how to calculate the joints value (displayed at OLP dynamic parameter of Path Editor)?

 

thanks.

 

2018-06-19_100301.png