Hello, I have a moveable workobject (rotateable around one axis) and want to adjust robot positions according to the rotation around the axis.
This seems to be a bit tricky since Polyscope does something in the Background which is not easy to find:
I implemented a movel instruction with my defined Wobj (Vessel) as “Feature” in Polyscope; in the script file of the program i found:
$ 6 “MoveL”
$ 7 “Waypoint_1” “breakAfter”
movel(pose_trans(Vessel, pose_trans(p[-.682601374964, -1.065473092233, .620838031273, -1.707628376559, .767752116616, -1.756292577873], Waypoint_1_p)), a=1.2, v=0.25)
When I replace the Wobj (Vessel) to a rotated Wobj:
$ 3 “VesselBase≔pose_trans(Vessel_const,p[0,0,0,0,0,0.1])”
global VesselBase= pose_trans (p[-1.222279190029615,-0.2570628015311729,0.6531230405835968,1.7076283765589995,-0.7677521166160481,1.75629257787283],p[0,0,0,0,0,0.1])
And did the same instruction with the rotated Wobj:
$ 5 “movel(pose_trans(VesselBase, pose_trans(p[-.682601374964, -1.065473092233, .620838031273, -1.707628376559, .767752116616, -1.756292577873], Waypoint_1_p)))”
movel(pose_trans(VesselBase, pose_trans(p[-.682601374964, -1.065473092233, .620838031273, -1.707628376559, .767752116616, -1.756292577873], Waypoint_1_p)))
It works fine but i do not understand where this “magical” pose (p[-.682601374964, -1.065473092233, .620838031273, -1.707628376559, .767752116616, -1.756292577873]) comes from. Without using exactly these values i couldnt figure out a solution.
Can you tell me how this pose can be calculated?
Is there another way working with changing workobjects?
BR
Malte