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Miga94Miga94 Posts: 2 Recruit
Is it possible to use wrist camera in vertical plane with UR5e robot?What is the calibration method?


  • bcastetsbcastets Vacuum Beta tester Posts: 611 Expert
    Yes, can do that.
    The best would be to calibrate the camera on a flat surface and then define a new vertical work plan.
    I recommand you check our elearning video.

  • Miga94Miga94 Posts: 2 Recruit
    edited February 2
    Thank you for the answer. I calibrated a vertical plane and approach the object well. Whenever I use movel command though it throw error on unable to obtain inverse kinematics solution. I used MoveJ then it fixed it. Is there any work around that let me use movel in this type of scenario? Or does it depend on joint position of robot stored when snapshot position was created?
    I have attached a video of the test here. @bcastets
  • bcastetsbcastets Vacuum Beta tester Posts: 611 Expert
    Make a moveJ to move the camera to the correct orientation at the approach point. Most of the time MoveJ is necessary to change robot orientation.
    Then use a moveL to go from approach to pick point.
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