Home Programming

Discussion

Left ArrowBack to discussions page
DTI_TBDTI_TB Posts: 2 Recruit
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.

Best Answer

  • bcastetsbcastets Vacuum Beta tester Posts: 611 Expert
    Answer ✓
    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

Sign In or Register to comment.
Left ArrowBack to discussions page