Discussion

Left ArrowBack to discussions page
Nicolas_LauzierNicolas_Lauzier Posts: 26Beta Tester VIsion 1.1 Program, Vacuum Beta tester Crew
Hi all,

Let's say that I have a minor change on my robot's end effector (for example, I changed the fingertips of my gripper) and I want to apply an offset of 5mm in tool Z. Normally, I would just change the TCP. However, if all waypoints were teached with the "Use Tool Flange" option for the TCP, is there a way that I can offset all these points without having to change the TCP on all the move instructions? Imagine that I have a lot of programs with a lot of points such that any manual operation is not practical.

I'm looking for a script, a tool or a built-in option in Polyscope.

Thanks!


Nicolas Lauzier, Eng., PhD
R&D Director
[email protected]

Comments

  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    What type of moves are you making?
  • Nicolas_LauzierNicolas_Lauzier Posts: 26Beta Tester VIsion 1.1 Program, Vacuum Beta tester Crew
    @matthewd92 , I am looking for a generic solution on this so I'm interested if something works for either moveJ, moveL or both of them.

    Nicolas Lauzier, Eng., PhD
    R&D Director
    [email protected]

  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    With moveL you could simply alter the base_var and then it adjusts the moves accordingly.  This does not work for movej though since there is no transformation going on behind the scenes like there is with moveL. You could store as an installation variable the offset pose to use and then in the before start section of the program do the pose_add such as:
    base_var = pose_add(base_var,someOffsetPose)
    We played around with this some yesterday and it actually does work with the movel

  • Nicolas_LauzierNicolas_Lauzier Posts: 26Beta Tester VIsion 1.1 Program, Vacuum Beta tester Crew
    Thanks @matthewd92, I wasn't aware of this variable!

    However, this offset will not be applied in the tool frame, am I right?

    Nicolas Lauzier, Eng., PhD
    R&D Director
    [email protected]

  • MarcAntoine_LacasseMarcAntoine_Lacasse Posts: 19Beta Tester VIsion 1.1 Program Handy
    @matthewd92 I try to play with the base_var on polyscope 3.6 but I receive an error about 'base_var not initialized' ?
    Marc-Antoine Lacasse
    Research Engineer
    [email protected]
  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    Sorry @MarcAntoine_Lacasse I had a typo in the code line above. It should use the pose Base in the formula

    Base_var = pose_add(Base,someOffsetPose)
    @Nicolas_Lauzier I'm not sure if it would or not, my gut says that it wouldnt but if you are using the tool frame of reference then correcting the TCP would correct those motions.  This would be a correction for the motion was taught using the tool flange unless I am not understanding the question correctly.

    I wrote a small program the other day to test this and all we did was make an incrementing x offset that we kept applying to the Base_var and then calling the same moveL and the robot would step each time the amount of the x offset that we were applying.  To get it to work with a movej we had to do set a variable equal to the waypoint desired in the before start section and then we were recalculating that point before each time it was used in the offsetting loop using the new Base_var as the frame of reference.  Then we were able to achieve the same result which makes sense as this is being done in script code automatically for the moveL situation. 
  • MarcAntoine_LacasseMarcAntoine_Lacasse Posts: 19Beta Tester VIsion 1.1 Program Handy
    Hi @matthewd92, I must be missing something, Base_var and Base are not recognized as valid pose variable in my test program. Could you link a program in which those variables are used ?
    Marc-Antoine Lacasse
    Research Engineer
    [email protected]
  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    You need to go to the installation tab, go to features and select variable under Base to get to the Base_var in the assignment tab.

    I can never get programs to upload but here is a screen shot of the program




  • MarcAntoine_LacasseMarcAntoine_Lacasse Posts: 19Beta Tester VIsion 1.1 Program Handy
    Thanks Mat, that's what I was missing !
    Marc-Antoine Lacasse
    Research Engineer
    [email protected]
  • AZalmanovAZalmanov Posts: 19 Apprentice
    Is there a reason why this will not work for other features than the base? I am trying to only offset some waypoints in the program.
  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    It should work for any feature you use with a movel so long as you make the feature a variable and then apply your offsets to that variable. 
  • AZalmanovAZalmanov Posts: 19 Apprentice
    Okay, thank you for clarifying. I did also notice that once you change the movej to movel you can select the feature it is based on. That is why it wasn't working at first.
  • MarcAntoine_LacasseMarcAntoine_Lacasse Posts: 19Beta Tester VIsion 1.1 Program Handy
    @matthewd92 Is it still working with eSeries ?
    Marc-Antoine Lacasse
    Research Engineer
    [email protected]
  • MarcAntoine_LacasseMarcAntoine_Lacasse Posts: 19Beta Tester VIsion 1.1 Program Handy
    @matthewd92 Looks like the feature is deprecated  :/


    Marc-Antoine Lacasse
    Research Engineer
    [email protected]
  • matthewd92matthewd92 Posts: 827Founding Pro, Tactile Sensor Beta Testers Handy
    @MarcAntoine_Lacasse that sucks. That was a very useful feature. 
Sign In or Register to comment.
Left ArrowBack to discussions page