Hello,
I have three semi-arbitrary planes that, if extended, touch at a point (similar to the walls & roof of a room meeting at a point - the corner). I am able to measure where these three planes are using my UR10e - I then want to move the TCP to the “corner” where these three planes meet, but I can’t think of how to do this within the confines of a UR script.
I am able to find this intersection point using Python via the numpy.linalg.solve function. For any three non-parallel planes, I can find the point at which they intersect. I have a simple python file I can share that does this (however I am not allowed to upload it due to this being a new account).
I suspect that I’m about to be told to just do the algebra within a UR script… but before I commit a week to this, if anyone has something a bit easier that seems similar to my problem, any help would be appreciated!
Thanks,
Tom