Home› Programming
Discussion
Back to discussions page
DTI_TB
Posts: 2 Recruit
UR Script, saving Pose variable |
113 views
|
Answered | |
/ Most recent by DTI_TB
in Programming
|
2 comments |

in Programming
Hello. I am new to UR script and an intern at DTI Teknologisk Institut Denmark. 
Im doing a program where i have a UR robot putting down item on a rack. I got it to Seek on Contact and such.
But the movement (To put the item on the rack) is atm made with a very basic line of waypoint.
I would like to know how i can use the Get_actual_TCP_Pose to remember the movements.
As it is now, When it meet the seek on contact, it will go back to the waypoints.
The plan is to ''stack them on the rack side by side.
I hope it made sense
and sorry for the spelling error.

Im doing a program where i have a UR robot putting down item on a rack. I got it to Seek on Contact and such.
But the movement (To put the item on the rack) is atm made with a very basic line of waypoint.
I would like to know how i can use the Get_actual_TCP_Pose to remember the movements.
As it is now, When it meet the seek on contact, it will go back to the waypoints.
The plan is to ''stack them on the rack side by side.
I hope it made sense

Best Answer
-
bcastets Vacuum Beta tester Posts: 611 Expert
You could do something like this.
#Replace the waypoint position "p[0,0,0,0,0,0] by a waypoint below the surface
destinationPos=p[0,0,0,0,0,0]
if (continous cheack) force<10
moveL
destiantionPos
else
destinationPos=get_actual_tcp_pose()
#Then next time you can go directly to the position
MoveL
destinationPos
Comments
-
DTI_TB Posts: 2 Recruit
Thank you. It worked1 · TwitterFacebook