pshell_config/mxsc
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gac-S_Changer
2018-10-16 18:05:43 +02:00
parent cfc4b3a0da
commit 3d86c27140
19 changed files with 333 additions and 111 deletions
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2
script/calibration/ToolCalibration2.py
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@@ -54,7 +54,7 @@ off_x = x1 - x2
#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed.
robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
robot.set_trsf([off_x, 0,0,0,0,0])
c=robot.compose("pTemp", "fTable", "tcp_t" )
c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" )
robot.set_pnt(c, "pTemp")
robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)

50
script/calibration/ToolCalibration3.py
View File

@@ -4,6 +4,7 @@ from mathutils import fit_gaussian, Gaussian
cal_tool = TOOL_CALIBRATION
robot.set_tool(cal_tool)
robot.enable()
move_to_laser()
@@ -13,13 +14,16 @@ robot.set_joint_motors_enabled(True)
initial_pos = robot.get_cartesian_pos()
#robot.align()
run("calibration/ScanX")
try:
robot.set_frame(FRAME_TABLE)
run("calibration/ScanX")
finally:
robot.set_default_frame()
pos1 = robot.get_cartesian_pos()
x1, l1 = closest_x, closest_y
print "Closest 1: ", [x1, l1]
print "Scan 1 result: ", [x1, l1]
print "Position 1: ", pos1
@@ -30,31 +34,45 @@ else:
robot_j6.move(pj6 + 180.0)
run("calibration/ScanX")
try:
robot.set_frame(FRAME_TABLE)
run("calibration/ScanX")
finally:
robot.set_default_frame()
pos2 =robot.get_cartesian_pos()
x2, l2 = closest_x, closest_y
pos2 = robot.get_cartesian_pos()
print "Closest 2: ", [x2, l2]
print "Position 2: ", pos2
print "Scan 2 result: ", [x2, l2]
print "Position 2: ", pos1
off_l = l2 - l1
print "Offset l: ", off_l
#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed.
robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
robot.set_trsf([0, -off_l, 0, 0, 0, 0])
c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" )
robot.set_pnt(c, "pTemp")
robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)
pos3 = robot.get_cartesian_pos()
print "Position 3: ", pos3
#Updates the tool
t=robot.get_tool_trsf(TOOL_DEFAULT)
print "Former tool: " + str(t)
xoff = (x1-x2)/2
yoff = (l2 - l1)/2
xoff = (pos3[0]-pos1[0])/2
yoff = (pos3[1]-pos1[1])/2
xrot = math.degrees(math.atan(yoff/t[2]))
yrot = math.degrees(math.atan(xoff/t[2]))
print "Former tool: " + str(t)
t[0]=xoff
t[1]=-yoff
print "Offset: ", [t[0], t[1]]
print "CALIBRATED tool: " + str(t)
#robot.set_tool_trsf(t, TOOL_DEFAULT)
print "Calibrated tool: " + str(t)
robot.set_tool_trsf(t, TOOL_DEFAULT)
robot.set_tool(TOOL_DEFAULT)
d = robot.get_distance_to_pnt("pLaser")