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emile_
Posts: 11 Apprentice
mirror function |
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/ Most recent by jelms
in Programming
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4 comments |

in Programming
hello,
i'm using UR5 for spraying(method of learning to generate the script ). I'm using one tcp and i need to make symmetry.
For position i
don't have problems (the middle of my object is in the origin so i can easly get the position in the other part ) is it possible to inverse the orientation of tcp
(rx,ry,rz) (rotation vector)? any suggestions?
Caveat: I have not tested these thoroughly and think they only work on a subset of poses.
If you want to mirror across the y-axis you should be able to set the mirror position of r1 to I'm being a little sloppy as the rotation of the wrist3 won't be mirrored. I also considered but I don't think this will handle an axis-angle with all non-zero components. Maybe I'll find some time to get the full correct answer assuming lateral symmetry of the tool.