[geogeo]

Hi,

I'm working with KUKA Kr6 and i tried to move the robot along the z axis of the TCP. 
In order to do that, i created a function offset based on what I saw on roboDKapi documentation :

def Offset_pose(robot:robolink.Item,dist):
    target_ref = robot.Pose()
    target_i = Mat(target_ref)
    pos_i = target_i.Pos()
    pos_i[2]=pos_i[2]+dist
    target_i.setPos(pos_i)
    print('pose voulue')
    print(target_i)
    robot.MoveL(target_i)

It seems that when i use this function the robot move but not at the right place. For example:
Pose at the beginning
Pose(558.226, -97.864, 151.368,  -180.000, 0.000, 0.000):
[[ 1.000, -0.000, 0.000, 558.226 ],
 [ -0.000, -1.000, 0.000, -97.864 ],
 [ 0.000, -0.000, -1.000, 151.368 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

Desired pose
Pose(558.226, -97.864, 201.368,  -180.000, 0.000, 0.000):
[[ 1.000, -0.000, 0.000, 558.226 ],
 [ -0.000, -1.000, 0.000, -97.864 ],
 [ 0.000, -0.000, -1.000, 201.368 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

Pose after using Offset_pose(robot,50)
Pose(557.762, -98.563, 200.910,  179.900, 0.152, 0.026):
[[ 1.000, -0.000, 0.003, 557.762 ],
 [ -0.000, -1.000, -0.002, -98.563 ],
 [ 0.003, 0.002, -1.000, 200.910 ],
 [ 0.000, 0.000, 0.000, 1.000 ]]

So my question is : is it common to have a difference between the the Desired pose and the real pose using MoveL?
When I use MoveJ instead of MoveL there is no difference between the Desired pose and the real pose.

[Jeremy]

Why don't you use the Offset or RelTool function available in the API?


https://robodk.com/doc/en/PythonAPI/robo...Mat.Offset

Jeremy