[rbalmer]

I'm generating a Robodk program from python based on a text file of features to machine, but I'm having trouble getting the targets generated by my python program to work properly.  I'm generating cartesian targets but the robot doesn't move to the correct cartesian location.  Not sure what is wrong, but it always seems to move to the joint location which for some reason doesn't match the cartesian. 



  Concept4.zip (Size: 382.74 KB / Downloads: 211)

[Sergei]

You can try using Robot Machining Project or Curve Follow Project paired with one of the CAD plugins to implement a sample program close to yours to check the required target coordinates and reference frame.

[rbalmer]

You can try using Robot Machining Project or Curve Follow Project paired with one of the CAD plugins to implement a sample program close to yours to check the required target coordinates and reference frame.

I guess what I want to understand is why does the process not work:

target = RDK.AddTarget(name, frame, robot)
pose = KUKA2Pose(xyzabc) with respect to frame
target.setPose(pose)
target.setParam('Recalculate')

and when I do a moveL to this target it moves to the joint values stored in the target and not the cartesian position and the joint values are wrong.  

So at what step are the joint values calculated and how can I get them to sync with the cartesian?

Thanks,

[Sergei]

It may be necessary to consider the reference frame used:

Code:

from robodk import robolink
from robodk.robomath import *

RDK = robolink.Robolink()

robot = RDK.Item('Fanuc M-900iB/360')
frame = RDK.Item('Fanuc M-900iB/360 Base')

target = RDK.AddTarget('MyTarget',frame,robot)

coords = [1500.0, 300.0, 150.0, 0.0, 180.0, 0.0]
pose = frame.Pose()*KUKA_2_Pose(coords)

target.setPose(pose)
target.setParam('Recalculate')