Hi,
I’m currently working with a UR3e robot and programming in URScript for a robotics educational project.
I wrote a program where the robot follows a bezier curve, i validated the path in matlab with the ecuation but i would like to compare the plot from matlab with a plot generated by polyscope.
Is that possible to plot the path of the robot while the program is running (or after)? so i can compare it.
valeleleon,
You can continually get the Robot TCP positional data in a number of ways.
You could use a Thread and script command get_actual_tcp_pose() to write the values into a List.
see UR Script manual Universal Robots - Script manual - e-Series - SW 5.11
or you could use RTDE to get the Robot TCP position through an external PC TCP/IP connection.
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
Hope this helps.
