Home› Programming
Discussion
Back to discussions page
dahonora
Posts: 17 Apprentice
TCP alignment with robot base axis |
242 views
|
Answered | |
/ Most recent by matthewd92
in Programming
|
3 comments |

I am working with a UR10e. I am using a stereo camera to align the TCP with the plane in front of it. After this operation, the x-y plane of the TCP is parallel to the working plane, but the z-axis is keeping the same orientation it has at the beginning. Now, I want to change the TCP z-axis orientation to align the TCP y-axis with the base z-axis rotating only around the z-axis of the TCP to keep the TCP x-y plane parallel to the working plane. Any idea how to do that?
Thank you in advance
Thank you in advance
I think that you didn't get my point. I am actually using pose_trans to move w.r.t the actual TCP pose, but it is always a relative movement. Following your idea I can do:
pose = get_actual_tcp_pose()
newpose = pose_trans(pose, p[0,0,0,0,0,d2r(zdegrees)])
The problem is how to find the angle zdegrees in order to align the TCP y-axis with the base z-axis rotating only around the z-axis of the TCP to keep the TCP x-y plane parallel to the working plane.
I will try to explain better why do I need this. The robot starts the movements in a random position in front of a vertical working plane with random orientation and position. I use the stereo camera to align the x-y TCP plane with the vertical working plane. The used tool has a one-side asymmetry, so I need to approach the final point with a specific ‘rz’ tool orientation. That’s why I want to align the TCP y-axis with the base z-axis.
I hope it is clear now. Thank you for your help.