3.4. Programming
difference between the two given positions (left to right). Note that repeated
relative positions can move the robot out of its workspace.
3.4.7
Program
→
Command Tab, Variable Waypoint
A waypoint with the position given by a variable, in this case
calculated_pos
.
The variable can be a list of joint angles in radians, such as given by the assign-
ment
var=[0.1,0.4,0.2,2.0,2.1,-3.14]
, or a
pose
such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]
. The first three are
x,y,z
and the last three
are the orientation given as an
axis-angle
given by the vector
rx,ry,rz
. The length
of the axis is the angle to be rotated in radians, and the vector itself gives the
axis about which to rotate.
52
UR-6-85-5-A
Summary of Contents for UR-6-85-5-A
Page 1: ...UR 6 85 5 A User Manual Version 1 11 January 2010...
Page 2: ...2 UR 6 85 5 A...
Page 6: ...Contents 6 UR 6 85 5 A...
Page 16: ...1 4 Mounting Instructions 16 UR 6 85 5 A...
Page 33: ...Chapter 3 PolyScope Software 33...
