Good afternoon,
I would like to find the transformation between a camera mounted on a UR5 and the TCP of this robot.
I’m using the code from the MATLAB example “Estimate Pose of Moving Camera Mounted on a Robot” (https://www.mathworks.com/help/vision/ug/estimate-pose-of-moving-camera-mounted-on-a-robot.html) but I’m having a problem with the values for the robot’s joint angles. I used the values I obtained from the UR5 register ‘actual_q’. I read this register via an RTDE connection, in MATLAB.
When I used the information found in this register with the images taken by my camera, I obtained the following result:
When the camera (in red) is on the TCP of the robot.
I did some research and discovered that the error was due to the joint robot’s joint angles values I had been given in the code.
In the ‘Real-Time Data Exchange (RTDE) Guide’ for UR5 (Real-Time Data Exchange (RTDE) Guide - 22229), it says that ‘actual_q’ is the actual joint position in radians.
I guess I missed a transformation or got the wrong data.
Can someone explain to me what exactly the ‘actual_q’ register is, and how I can get the robot’s joint angles?
Thank you for your time.