Adjust Targets to Get Correct Path

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If you need to use this Step, please click Help  About Plugins in the menu bar, and enable the "step_trajectory" plugin in the window.

Function

This Step rotates and translate targets along Z axis to get the correct path.

Usage Scenario

This Step is generally used to adjust the rotation angle of the robot end effector when it moves along the path.

Input and Output

Input

Input port Data type Description

Original Trajectory

Pose[]

The original target pose input to this port.

Output

Output port Data type Description

Adjusted Trajectory

Pose[]

The target pose after rotation and translation along the Z direction.

Parameter Description

Parameter Description

Rotation Angle

Parameter Description: This parameter is used to specify the rotation angle of the waypoint about the path forward direction.
Default value: 0.0000°
Instruction: The waypoint rotates around the path by a specified angle to change the orientation of the waypoint.

Z Translation after Rotation

Parameter description: Translation distance along Z axes after rotation.
Default value: 0.000 mm
Tuning tips: After rotation is completed, move the specified distance along the Z direction to adjust the target pose height.

Less Rotation around Z Axes

Parameter description: If this option is checked, the adjustment on the target points will have less rotations around the Z axes of the target points.
Default value: Unchecked
Tuning tips: When this option is checked, the Z axis rotation during the adjustment process is minimized to ensure smaller changes in the coordinate system axes after rotation.

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