Saving Pose information without having to re-teach points

Technical Questions URScript
1

I am working on a urscript program that puts the robot into freedrive and prompts the user to move the robot to a position which is used later in the program.

Right now if the program stops and is restarted, the operator has to re-teach those points. I am wondering if there is a way to record the [x,y,z,rx,ry,rz] output from the get_actual_tcp_pose() command so that the user does not need to re-teach those points every time a new program starts.

Code sample:
teach_points = request_boolean_from_primary_client(“Would you like to teach new points?”)
if teach_points == True:
popup(“To begin teaching points, press Continue”, title=“Pre-Start”,blocking=True)
freedrive_mode()
popup(“Move robot to FIRST point. When finished, press Continue”, title=“First Coordinate”,blocking=True)
first_coord_grab = get_actual_tcp_pose()
end

  x = first_coord[0]
  y = first_coord[1]
  z = first_coord[2]
  rx = 1.748 #first_coord[3]
  ry = -2.597 #first_coord[4]
  rz = 0.0 #first_coord[5]

movep(x,y,z,rx,ry,rz,accel,velocity,blend_radius)

If there is a different way of storing these values so that they are recorded and a user can opt out of re-teaching and use the taught data from the previous run of the program.

Any help is appreciated.

Thanks!

2

Hello Evan,

Define your variables as global variables in the Installation, and they will be saved between stops, shutdowns etc. :slight_smile:

1 Like