[EPB]

Hi there!

I am working on a setup for a few days now, and it's driving me nuts.

Currently, I am creating a setup where a UR 10 takes a piece from a pallet, places it into a null position holder. Takes it out from the other side and put it on the table.
I am stuck at the point where the piece needs to be placed at the null position. I am getting the message: target cannot be reached. It sounds strange for me because that 0 point is near the robot...

I used the demo file: Camera simulation with 2d camera.

Could somebody please be so kind to help me out?

Attached are the files.

Edit:
Is there a way to see a point in space where the robot want to go to? This can help with debugging.

[Jeremy]

this piece of code should help:

Code:

   # ----------- place the box i on the convegor ------
   # approach to the conveyor
   robot.setPoseFrame(null_position_holder)
   robot.MoveJ(target_null_safe)
   robot.MoveL(eye()*roty(-pi))
 

You were applying the distance between the robot base and the NullPositionHolder frame twice. 
Once with the setPoseFrame and once with the motion. The pose you were trying to reach was therefore twice as far. 

Jeremy

[EPB]

Hi Jermey,

Thanks for your fast reply! In what lines did I added the distance twice? Jus to learn from.

[Jeremy]

85 - 86

85 -> You set the frame, so the new (0,0,0) is where the frame is.
86 -> You take the frame position with respect to its parent, which represents the same translation as what you did on line 85.

Jeremy