Transform Poses of Feature Points(Gantry)
Description
This Step transforms the feature point coordinates obtained from the surface data from the surface data reference frame to the robot reference frame.
Usage Scenario
The Step must be used in conjunction with the N-Point Calibration for gantry function to establish the coordinate transformation between the surface data reference frame and the robot reference frame.
After the 3D Laser Profiler Step is used in the project to acquire surface data and the N-point calibration result is applied, you can connect this Step in a subsequent workflow to transform the feature point coordinates from the surface data reference frame to the robot reference frame.
Input Description
| Input item | Description |
|---|---|
Feature point list |
The points obtained from the surface data are expressed in the surface data reference frame. |
Parameter Description
| Parameter | Description |
|---|---|
TCP offset |
This Step compensates for the offset of the tool center point (TCP) from the calibration position during actual operation. This category contains the following parameters:
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Output Description
Select the output item(s) to add the output port(s) to the Step, which outputs the specific data when the Step runs.
| Output item | Description |
|---|---|
Feature point list |
The transformed points are expressed in the machine reference frame. |
Point X |
The X value of the feature point in the machine reference frame after pose transformation. |
Point Y |
The Y value of the feature point in the machine reference frame after pose transformation. |
Point Z |
The Z value of the feature point in the machine reference frame after pose transformation. |