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Hi,
For a university project, I want to depalletize rods from a container using two TCPs positioned at a 90-degree angle. Each rod is equidistantly positioned. Since the position and orientation of the container can vary slightly, I cannot use fixed positions. My solution involves touching the blister to determine the height, and the x, y, and z orientation, and creating a pose (called “plane”) from it. I then taught a position directly hovering over rod 0 (the rod closest to the newly created coordinate system of the container) with TCP1. Next, the robot performs a relative movement in the y-direction down to the rod, picks it up, and then moves back up in the same way. I want to reuse these waypoints but shift/translate the coordinate system of the container by the exact distance so the TCP can grab the next rod in the same manner, alternating between the TCPs.
My problem is that I constantly get inverse kinematics errors after rod 0 is grabbed.
I want to thank anyone in advance who might be able to help me. 