RelativeMove relative_move

Description

../../../../_images/RelativeMove.png

relative_move

Relative movement based on the known motion points

Parameters

Basic & Basic Move

See General Parameters of Move Skills

Basic Move

See Basic Move General Parameters

Relative to (movement tasks)

The relative position setting includes the setting of the reference point, the relative coordinate system, and the offset vector. Wherein the reference point can be Current , or you can choose the Next point in the track. The coordinate system where the offset vector is located can be TCP , or Robot , and Ref Point . The offset vector is expressed by x, y, and z.

If you choose TCP , robot will relative move based on the TCP coordinate system; and if you choose Robot , robot will relative move based on the Base coordinate system. The comparison between moving based on two coordinate systems shown in the figure below:

../../../../_images/current_compare.png

relative to current

../../../../_images/next_compare.png

relative to next (point)

Reference point description

When the detected objects are in deep box, you can choose Ref Point to avoid collision of end effector and box during vertical picking(default Z direction of relative_move), relative_move will use the Ref Point as the target direction, and the movement distance will be the preset value.

../../../../_images/refPointSample.png

relative_move when Coordinate System is Ref Point