Filtrar la posición usando la API

El código siguiente es un ejemplo de script Python que utiliza la API de RoboDK para filtrar un objetivo (posición pose oposición de articulación), utilizando el comando FilterTarget:

pose_filt, joints = robot.FilterTarget(nominal_pose, estimated_joints)

Este ejemplo es útil si una aplicación de otro fabricante (que no sea RoboDK) genera el programa del robot usando posiciones pose.

from robolink import*# API to communicate with RoboDK

from robodk import*# basic matrix operations

defXYZWPR_2_Pose(xyzwpr):

return KUKA_2_Pose(xyzwpr) # Convert X,Y,Z,A,B,C to a pose

defPose_2_XYZWPR(pose):

return Pose_2_KUKA(pose) # Convert a pose to X,Y,Z,A,B,C

# Start the RoboDK API and retrieve the robot:

RDK = Robolink()

robot = RDK.Item('', ITEM_TYPE_ROBOT)

ifnot robot.Valid():

raise Exception("Robot not available")

pose_tcp = XYZWPR_2_Pose([0,0,200,0,0,0]) # Define the TCP

pose_ref = XYZWPR_2_Pose([400,0,0,0,0,0]) # Define the Ref Frame

# Update the robot TCP and reference frame

robot.setTool(pose_tcp)

robot.setFrame(pose_ref)

# Very important for SolveFK and SolveIK (Forward/Inverse kinematics)

robot.setAccuracyActive(False)# Accuracy can be ON or OFF

# Define a nominal target in the joint space:

joints =[0,0,90,0,90,0]

# Calculate the nominal robot position for the joint target:

pose_rob = robot.SolveFK(joints) # robot flange wrt the robot base

# Calculate pose_target: the TCP with respect to the reference frame

pose_target = invH(pose_ref)*pose_rob*pose_tcp

print('Target not filtered:')

print(Pose_2_XYZWPR(pose_target))

joints_approx = joints # joints_approx must be within 20 deg

pose_target_filt, real_joints = robot.FilterTarget(pose_target, joints)

print('Target filtered:')

print(real_joints.tolist())

print(Pose_2_XYZWPR(pose_target_filt))