[FraserRoboLboro]

Hi,

I have a situation where a physical camera is mounted onto a joint of the robot before the flange.
I was wondering if its possible to attach a reference frame to follow a specific robot joint to simulate a camera off of. 

I've tried simulating a camera off of a tool, however I need to avoid the rotation of the camera when the flange rotates as it does not reflect the physical situation.

I've also tried attaching an object to the robot and simulating the camera after, but the simulated camera remains stuck in the objects original position and does not follow the robots movement.

I've been looking through the tutorial but have been unable to find any details, but if anyone knows where this might get explained it would be appreciated.

Thanks.

[Albert]

You should be able to cut/paste your coordinate systems and/or objects into the robot arm so you can see your coordinate system and its dependencies move with the robot.

You can also drag and drop your coordinate system holding the mouse right click and you'll see the option to attach the coordinate system to your robot.

If you can share your project we may be able to help you better.

[FraserRoboLboro]

You should be able to cut/paste your coordinate systems and/or objects into the robot arm so you can see your coordinate system and its dependencies move with the robot.

You can also drag and drop your coordinate system holding the mouse right click and you'll see the option to attach the coordinate system to your robot.

If you can share your project we may be able to help you better.

Hi, thank you for the response.

I've attached some images to try and illustrate what I'm trying to achieve.

The first image shows how I have the camera mounted.
The second shows the camera attached as a tool to the robot.
The third shows what I'm trying to avoid, where the camera tool is rotating with the robot flange.

So is there a way to attach the object to the robot, while making it independent of the robot flange (Joint 6).

[Albert]

You can attach an object to a specific joint of your robot arm by following these steps:

1. Select Tools-Run Script
   
2. Select Add_Object_To_Robot
   
3. Select the object if prompted
   
4. Select the robot link
   

You can find more information here:
https://robodk.com/forum/Thread-Attach-a...7#pid10617

[FraserRoboLboro]

Hi,

So this is the issue I mentioned earlier. Attaching the object to the robot works as I want it to for the object.
However trying to simulate a camera off of this object is where the problem is. The simulated camera stays fixed at the location the camera object was in when I ran the Attach Object to Robot script.

Attached are a couple of images showing what I mean.

[Albert]

In this case you can use the attach object addin to attach your camera and attach the coordinate system of the camera to your object:
https://robodk.com/addin/com.robodk.plug...tachobject