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kfur5e
Posts: 6 Apprentice
How to get the tool end to rotate while picking up a part using wrist camera |
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/ Most recent by bcastets
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Hello,
I have been trying to have the tool end of the UR5e to rotate during the picking operation within the cam locate node. I am currently using a Move L node under the cam locate node ( cam locate and move L uses the same snapshot). It is programed to pick up an object in a specific orientation but when I run the program with the part rotated by 180 degrees the UR5e seems to struggle to pick it up. Instead of just rotating around the tool end, it tries to move multiple joints that result in it reaching joint limits.
Any solution would be appreciated.
Thanks
I have been trying to have the tool end of the UR5e to rotate during the picking operation within the cam locate node. I am currently using a Move L node under the cam locate node ( cam locate and move L uses the same snapshot). It is programed to pick up an object in a specific orientation but when I run the program with the part rotated by 180 degrees the UR5e seems to struggle to pick it up. Instead of just rotating around the tool end, it tries to move multiple joints that result in it reaching joint limits.
Any solution would be appreciated.
Thanks
Tagged:
MoveL does not work well to change orientation of the robot.
What matter is that the detection plane is at the same height.
The easiest is probably to teach a model using the DXF method and define the detection plane where you want to make the detection using the calibration board.