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MEC_R
Posts: 8 Apprentice
Transform the orientation of the robot between 2 frames |
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Hello, what is the best way to transform the orientation of the robot between 2 frames?
I have 2 robots that I am trying to synchronize in a master-slave system, the usual position is simple but the orientation is not so obvious. I read the position of the master robot and transform it to the slave base frame. So far I have managed with the position but not with the orientation.
I will be grateful for any help.
Thanks a lot!
I have 2 robots that I am trying to synchronize in a master-slave system, the usual position is simple but the orientation is not so obvious. I read the position of the master robot and transform it to the slave base frame. So far I have managed with the position but not with the orientation.
I will be grateful for any help.
Thanks a lot!
Tagged:
https://dof.robotiq.com/discussion/2281/urscript-calculate-point-coordinate-from-a-custom-frame#latest
I have a new frame that only rotates around the z-axis by 254°, as far as I do:
and as better explanation:
i need result because i have the pose2 and pose1 is the transformation between start and Ref. in my case there is no translation between Start and Ref, i have only Rotation around Z-axis by 254°.
another question is representing Pose1 by [0.0, 0.0, 0.0, 0.0, 0.0, 4.43314] correct?
point_from_frame=pose_trans(pose_inv(frame),point_from_base)
frame = [0.0, 0.0, 0.0, 0.0, 0.0, 4.43314]
point_from_base= input of the function
This will return the coordinate of "point_from_base" (expressed in base referential) in frame referential.
I guess the result will be something like [x,y,z,0,0,0]