Compute Robot/Machine Adjusted Goal Frame

Computes an adjusted goal frame to compensate for discrepancies between a machine’s kinematic model and its real- world behavior. In this case, the goal is to move a robot/machine to a goal frame from its current position. In reality, the robot/machine moves to some slightly different position than what was commanded, due to real-world imperfec- tions in the machine’s kinematic model. This end position is measured, and based on how the machine moved, a new adjusted goal frame is computed that will bring the machine closer to the desired goal frame.

 

Input Arguments

 

0

Collection Object Name

Original Goal Frame

The goal frame to achieve.

1

Collection Object Name

Last Adjusted Goal Frame

The computed modified goal frame from a previ- ous iteration of the command.

2

Collection Object Name

Actual Measured Frame

The measured frame for the current machine

position.

3

Collection Object Name

Modified Goal Frame

A name for an adjusted goal frame that will be created.

 

Return Arguments

 

 

4

 

Transform

 

Transform Value

The transform from the current position (mea- sured frame) to the modified goal frame (in work- ing coordinates).

 

Returned Status

 

SUCCESS

The modified goal frame was calculated successfully.

FAILURE

The original goal frame, last adjusted goal frame, or actual measured frame could not be found.

 

Remarks

The robot/machine must be in the active collection, and its interface must be active. The general use pattern for this command is to:

Command the machine to the goal frame.

Run this command, feeding the goal frame to the Last Adjusted Goal Frame argument. Command the machine to the computed Modified Goal Frame.

Repeat this command as many times as desired, feeding the previously calculated Modified Goal Frame to the Last Adjusted Goal Frame parameter.