Absolute move relative to Base Coordinates

General Application Help: How do I?
1

Hello,

I have a machine tool background. Very good with 3D space and coordinates.

I want to move my robot to a specific coordinate from any position.
I have been able to command the robot to more incrementally with “Pose_Trans” command.
However, I want to move it to an absolute base coordinate, not make an incremental move.

I need to be able to vary the position on the fly so it needs to be variable driven.

ie, x,y,z similar to 925mm , -230mm, 75mm (I know that I need to express it in meters)
[.0925, -.0230x .0075,0,0,0]

Any insight.

Nrp

2

Hi Nrp.

I unfortunatly am a bit confused about your question.
if you use a movel(pose_var) it should alway move to the same absolute coordinate, with 0,0,0 being the base of the robot.

but as you have already been using pose_trans im guessing that your question must be a bit more complex then what im reading.

if you could perhaps go a bit more into detail about what you want and perhaps also why a normal movel or movep command does not fulfill your requirements that would be great.

kind regards cg1

3

Hello cg1,

Thanks for your response to my post.

I am new at UR programming, so some of this might be very basic for others.
Maybe I am making it more complicated than it is.

If I want to do a just a movej or movel with a single position var in base coordinates, how do i setup that up. I am programming using the tablet interface.

Right now I’m using the pose_trans function, for example

Comp_point01 = pose_trans(get_actual_tcp_pose(), p[(Comp_x),(Comp_y),(Comp_z),0,0,0])
Movej Comp_point01

That is an incremental move from where I am.

All I really want to do is move to a absolute coordinate like (951, -218, -6.83) relative to the base being 0,0,0

I thought I could maybe do a pose_trans(p[0,0,0,], p[(951/1000),(-218/1000),(-6.83/1000)]
I can’t seem to get it to format correctly for the control to take the command.

There is probably a simpler way, I just have not found that yet.

nrp

4

Hi cg1,

I figured it out. Way simpler than I thought.

Temp_point = p[x_value, y_value, z_value]
Movej Temp_point

Thanks for the input and the nudge.

nrp

1 Like
5

My program is executing fine.

however, I have a movej that it seems to pause on every time.
I don’t know why, there is not a temp program pause set at that point.

any clue why it could be pausing at that move ?

nrp

6

there can be two reasons:

  1. your blend radius is to low
  2. you are swiching between different movement types. movec and movep works well together as well does movej and movel but when transistioning between these pairs the transistion is often less smooth.
7

https://academy.universal-robots.com/free-e-learning/e-series-e-learning/
I’ll leave this link here for your browsing. It’s UR’s free online training. They’ve got pretty good modules that have you interacting with a simulated robot and can definitely teach you the basic commands and how they function.

8

Nrp,

I would recommend using movel. The speed is far more consistent than using movej, I had similar issues when I first started programming URs.