Pose Transformation (Advanced)
Feature Description
This Step is used to calculate pose relationships between different coordinate frames.
Application Scenario
This Step is suitable for tasks requiring coordinate frame transformation, dual-robot collaboration, and high-precision assembly. For example: transforming target object pose from camera frame to a custom frame, dual-robot collaborative assembly, and assembly of sheet metal parts at high-precision feeding stations.
Input and Output
Input and output ports of this Step vary by selected pose transformation scenario. For definitions and configuration of ports in each scenario, refer to related content in Scenario Selection.
Parameter Description
| Parameter | Description |
|---|---|
Select transformation scenario |
Description: Select the pose transformation scenario to execute. The scenario should be selected in the configuration wizard. Adjustment: Click Configuration wizard or the Configuration wizard button on the Step block to enter the pose transformation tool, then select and configure the required transformation scenario. Configuration processes differ by scenario. Refer to the following sections to select the required scenario and complete related configuration. |
Scenario Selection
Click the links below to view feature introduction and workflow for this Step under each pose transformation scenario.
Coordinate frame transformation
This feature is suitable for scenarios where point cloud or pose needs to be transformed to a custom coordinate frame. Note that point cloud or pose to be transformed and the custom reference pose must be in the same coordinate frame. For details, refer to Coordinate Frame Transformation.
Dual-robot relative pose calibration
This feature is suitable for scenarios that calibrate pose relationship between two robots, where at least one robot must have a camera installed. For details, refer to Dual-Robot Relative Pose Calibration.
Pose correction (assembly)
This feature is suitable for scenarios where a robot picks a target object and then uses secondary camera capture for recognition to guide the robot in high-precision assembly. Both 3D cameras and 2D cameras are supported for secondary capture and recognition. For details, refer to Pose Correction (Assembly).