[geogeo]

你好,

我与库卡Kr6和试图移动机器人沿z轴的TCP。
为了做到这一点,我创建了一个函数偏移基于我所看到roboDKapi文档:

def Offset_pose(机器人:robolink.Item dist):
target_ref = robot.Pose ()
target_i =垫(target_ref)
pos_i = target_i.Pos ()
pos_i [2] = pos_i[2] +经销
target_i.setPos (pos_i)
打印(“构成voulue”)
打印(target_i)
robot.MoveL (target_i)

看来,当我使用这个函数机器人移动但不是在正确的地点。例如:
姿势一开始
构成(558.226,-97.864,151.368,-180.000,0.000,0.000):
[(1.000,-0.000,0.000,558.226),
(-0.000,-1.000,0.000,-97.864),
(0.000,-0.000,-1.000,151.368),
(0.000,0.000,0.000,1.000)]

理想的姿势
构成(558.226,-97.864,201.368,-180.000,0.000,0.000):
[(1.000,-0.000,0.000,558.226),
(-0.000,-1.000,0.000,-97.864),
(0.000,-0.000,-1.000,201.368),
(0.000,0.000,0.000,1.000)]

造成在使用Offset_pose(机器人,50)
构成(557.762,-98.563,200.910,179.900,0.152,0.026):
[(1.000,-0.000,0.003,557.762),
(-0.000,-1.000,-0.002,-98.563),
(0.003,0.002,-1.000,200.910),
(0.000,0.000,0.000,1.000)]

我的问题是:它是常见的有区别所需的体式和实际使用MoveL ?
当我用MoveJ代替MoveL没有区别所需的姿势和真正的姿势。

[杰里米]

你为什么不使用抵消或RelTool可用的API函数?


//www.w5838.com/doc/en/PythonAPI/robo...Mat.Offset

杰里米