how to make the robot move in a static trajectory after it locate an object ?

TheoSaify

I want the robot to make the same path every time it locate an object. i don't want it to change the path depending on the object orientation.

David_Gariepy

@TheoSaify

Using parametric teaching method with a circle, the orientation of the tool should remain the same. For your exit point, it needs to be in a different move node as any movel with the snapshot position variable set as feature will be offset based on the object location. 

Could you please share a copy of your program? 

David_Gariepy

Hi @TheoSaify

What does the part you need to detect looks like? Could it be taught using the parametric teaching method?  The parametric teaching method will avoid unnecessary rotation of the tool to pick a circle, rectangle or square.

If not, then when an object is detected, the object_location variable is updated and containing the detected part's position and orientation relative to the base reference frame. The orientation is always parallel to the work plane on which the calibration has been performed. Thus, the part's X and Y axes are always parallel to the work plane. The Z axis is always normal to the work plane and points downwards from it, into the work plane. You can then use the X,Y,Z  position of the object_location and assign it to a position variable. 
Please see section 6.2 of the manual for more details about the object_location variable.

TheoSaify

I am teaching the robot to recognize a cup from above , so i used the parametric method to teach it using the diameter and the height. And i want the robot to grab it from the side and to move it to a certain exit point.
David_Gariepy

TheoSaify

@David_Gariepy i solved the problem, by using a sub_program. After the camera locate the object i will execute a move instruction in a sub program, then it will go to the desired way-point i need. Before implementing the sub_prog the robot will collide with itself depending on the position of the object