Hello, I’ve done a search of the forum and all related manuals I could find but haven’t had any luck.
I have a program where a robot performs a series of pick/place tasks. Some of the points it moves to are predefinied as poses in Base coordinates, others are programmatically defined by using pose_trans() on the predefined points with various offsets. The robot is mounted on a linear rail that can extend to any arbitrary number of mm.
Let’s say that the robot picks an object at Point A and places it at Point B while the actuator is not extended. After a while, the robot will need to pick again from Point A, but this time place the object at Point C, which is unreachable while the actuator is not extended. So, I extend the actuator, let’s say 100mm, putting the base of the robot at a location where the arm can reach both point A and Point C. How do I tell the robot that its base has moved, by 100mm in World coordinates, so that the next time I tell it to move to Point A to perform the pick it will go to the correct location? Is there a way to do that? Or do I have to do a pose_trans() on every single point in my program to adjust them by the same amount that the actuator extended by?