Page Comparison

...

• sheet_point = pose_trans(WorldPos, pose_trans(PalletCenter, p[X, Y, LayerAlt, 3.1415, 0, 0]))

• where X and Y (The unit is meter) are the corresponding distances of the TCP from the center point of the shim paper (in the Cartesian coordinate system of the current TCP). Otherwise use 0, 0 so the paper center will exactly match the pallet center.
  

Explaining pose_trans()

When using the URScript function pose_trans() keep the following best practices in mind:

“The first argument, p_from, is used to transform the second argument, p_from_to, and the result is then returned. This means that the result is the resulting pose, when starting at the coordinate system of p_from, and then in that coordinate system moving p_from_to.” (URScript Manual)

Practical examples:

1. move the gripper in the gripper coordinate system:

pose_trans( get_actual_tcp_pose(), p[0, 0, 0.1, 0, 0, 0] )

2. move the gripper in the base coordinate system

pose_trans( p[0, 0, 0.1, 0, 0, 0], get_actual_tcp_pose() )

3. move the gripper in the coordinate system defined by the pallet calibration (with floor correction)

pose_trans( p[0, 0, 0.1, 0, 0, 0], pose_trans(pose_inv(PalletCenter), get_actual_tcp_pose())

...