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Dictating tool orientation in Point Following Project
#1
Hi All,
I am trying to import a series of points with tool orientation from a .csv file. Initially the orientations are zero degrees.
Eg: 10,10,10,0,0,0
      11,10,10,0,0,0
      ... etc.

If use "import points" and the points are displayed but I get a "can't find a start point" error.

If the list of points do not have an orientation:
   10,10,10
   11.10,10
   ... etc
Then there is no problem following the points.  If there another way to import points with tool orientations?

Also, how can I select the points for the Point Following Project without selecting one at a time?

Thanks,
Jeff
#2
Hi Jeff, 

According to this:
Quote:Initially the orientations are zero degrees.
Eg: 10,10,10,0,0,0
      11,10,10,0,0,0
      ... etc.

Points need to be imported in this format:
x y z i j k
Where X Y and Z represent the position
and where i j and k represent the orientation of the tool normal as a unit vector. These are not Euler angle in degrees. 

If you remember, a unit vector means that square_root(i^2+j^2+k^2) = 1.
Therefore [10,10,10,0,0,0] is not a valid entry. 
For example, if you want the normal pointing in the Z+ direction, you should enter [10,10,10,0,0,1].

Hope it helps. 
Jeremy
#3
Hi Jeremy,
Thanks for the clarification.  This normal unit vector defines the direction the tool TCP aligns with but this does not include any rotation along the z-axis of the tool.  If, for example, I wish my to rotate (along the z axis of the tool) the tool to avoid the tool hose interfering with the fixture I cannot define this orientation in the list of points.

Once the points are imported, RoboDK converts the i,j,k values into A,B,C values. Are these ABC values then calculated to orientate the tool to the easiest accessible position?

Once imported I can rotate the tool in the simulation and export the program.  Is there a way to import points in a XYZABC format and skip this step?

Thank you,
Jeff
#4
Hi Jeff,

You are right that this format does not include rotation around Z.
This is on purpose to give RDK some "freedom" to use its automated singularity and joint limits avoidance.
You can define the rotation around Z in your "Point Follow Project" by defining the "Path to tool offset".
You can also lock the singularity avoidance algorithm by settings "Allow a tool Z rotation of +/-" at Zero.

If this doesn't give you the result you need, let me know, there are other things we can do.

Jeremy
  




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