Newsgroups: comp.robotics
Path: brunix!news.Brown.EDU!noc.near.net!howland.reston.ans.net!wupost!gumby!destroyer!ncar!mimbres.cs.unm.edu!intvax!loucks
From: loucks@isrc.sandia.gov (Cliff Loucks)
Subject: Re: Problem: PUMA 260 coordinate system
Message-ID: <1993Jun21.194954.3192@isrc.sandia.gov>
Organization: Sandia National Labs, Org. 1600, Albq., NM
References: <1vs7elINNjo@iraun1.ira.uka.de>
Date: Mon, 21 Jun 1993 19:49:54 GMT
Lines: 30

From article <1vs7elINNjo@iraun1.ira.uka.de>, by smuench@i61s6.ira.uka.de (Stefan Muench):
> Another problem is the missing feature of controlling
> the robot in tool coordinates. Of course, this is in principle
> done in the UNIVAL controller, but in two cases only: 1. when
> using the teach-pendant; 2. when switching to ALTER-mode.
> Unfortunately, there is no way to use tool coordinates in
> VAL II directly, i. e. they are not part of the language
> definition. Does anyone have a solution or a proposal for
> one? Is it possible to move the robot in tool coordinates
> by using the TOOL function? If so, how is it done?

I could be misunderstanding you, but you can effectively move the robot
in tool coordinates through the use of compound transformations.  If
you give the command:

   moves location:offset

and offset = trans(0,0,10,0,0,0)

the robot will move to a location that is 10 millimeters away from
"location" along the tool z axis.

Does this help?
Cliff


-- 

Cliff Loucks  <=>  loucks@isrc.sandia.gov
Sandia National Labs, Albuquerque, New Mexico
