I’m having some trouble with a UR5/Cognex inspection system I’m working with. I have a camera mounted on the end-of-arm locating a part on a conveyor, then sending coordinates (in millimeters; relative to the center of the camera’s field of view) to the UR. The UR should then use those coordinates…

@anna The axis angle rotation vector that a pose is generically represented as are sometimes rather hard to grasp just off the top of your head. One axis of rotations works fine, but multiple angles at a time will most likely not give what you expect - however the result is most likely right anyway…

UR5+vision - coordinate system difficulties

Technical Questions URScript

anna January 31, 2017, 3:47pm 4

Link to a previous discussion of this script solution:

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UR5+vision - coordinate system difficulties

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