Hello there devs, I’m developing a C# program that at some point generates an URScript path that is being sent to URSim/UR10e. The generated path is created as a set of points in global space with orientations w.r.t of origin (converted to meters and axis-angle). Robot moves correctly to each point…

I’ve solved the issue. Posting here in case it may help other devs I was creating the matrix used to generate the transformation in C# as EulerXYZ with: Matrix4.CreateRotationX(x)*Matrix4.CreateRotationY(y)*Matrix4.CreateRotationZ(z); Then I converted the matrix to AxisAngle to send it over 30002…

Hi roman, If you go to the move screen in Polyscope and select the Base as the feature. You will see that the tool position values showing the transformation from the base to the active TCP represented in axis angles and radians. That is the same values you should use for movel or movej. If you ch…

I am working on something very similar involving a camera with a UR10. I want to align the tool Y-axis with the base Z-axis while the tool rotates in its Z. Could you please explain to me where should I take the X, Y and Z values of the functions Matrix4.CreateRotation?

How to rotate w.r.t base frame?

Technical Questions URScript

v.roman November 8, 2019, 7:54am 5

Answered in TCP alignment with robot base axis !

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How to rotate w.r.t base frame?

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