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Curvefollow Project: Frame changes its pose unexpectedly
#1

.rdk   210923T2Object.rdk (Size: 2.63 MB / Downloads: 22)
Hello and thanks for your work.

I have a question about the curvefollowproject(CFP).
When I get a program out of the CFP, the Referenceframe of the Programm has got a different pose than the one I was referring to in the CFP-Options. I can look up the Frame Pose when i click on show instructions of the program.
I found out, that I can change this behaviour, if I go to Tools-> Options->Program… and deactivate the checkbox "Impose original tool and reference in programs".
 
But when I do that, the frame is correct, but the robot will move wrongly.
Why is that? I would like to have the unchanged reference frame, which I chose in the CFP Options with the correct curve movement. Maybe there is an easy solution to get that.

The Pose should be:
[     1.000000,     0.000000,     0.000000,  1238.000000 ;
      0.000000,     1.000000,     0.000000,    46.000000 ;
      0.000000,     0.000000,     1.000000,   557.000000 ;
      0.000000,     0.000000,     0.000000,     1.000000 ];
 
But changes to:
[     0.000000,    -0.000000,     1.000000,  1150.000000 ;
      1.000000,     0.000000,     0.000000,   -92.000000 ;
     -0.000000,     1.000000,     0.000000,   557.000000 ;
      0.000000,     0.000000,     0.000000,     1.000000 ];
 
Thank you in advance.
Blessings
 
Alex
#2
This happens because you moved the position of the object instead of the reference frame (coordinate system of the part). 

I recommend you to place the object on the correct reference frame, even if it is a new reference attached to your reference, and don't move the object to achieve the result you expect. See attached image and RDK project file.
   


Attached Files
.rdk   210923T2Object.rdk (Size: 2.06 MB / Downloads: 23)
#3
Hello Albert,

thank you very much for the quick reply and advice.
The problem seems to still be there. Because the Pose of the Program-WCS is still:

[ 0.000000, -0.000000, 1.000000, 1150.000000 ;
1.000000, 0.000000, 0.000000, -92.000000 ;
-0.000000, 1.000000, 0.000000, 557.000000 ;
0.000000, 0.000000, 0.000000, 1.000000 ];

Rotation around x, y, and z should be everything Zero.
Have a good evening.
Alex
  




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