Advanced Pose Transformation
Function
This Step can be used to calculate the pose relationships between different reference frames.
Usage Scenario
This Step is applicable to tasks that require reference frame transformations, dual-robot collaboration, and high-precision assembly. Typical scenarios include transforming the pose of a target object from a camera reference frame to a custom reference frame, cooperative assembly by two robots, and precision assembly in sheet metal loading stations.
Input and Output
The input and output ports of this Step vary depending on the selected transformation scenario. For specific port definitions and configuration methods under each scenario, please refer to the corresponding content in Scenario Selection.
Parameter Description
| Parameter | Description |
|---|---|
Select Transformation Scenario |
Parameter description: Select the transformation scenario within the config wizard. Detailed settings for the chosen scenario can be configured in the wizard.
|
Scenario Selection
Click the links below to view the function introduction and usage procedure for each transformation scenario.
Frame Transformation
This function is applicable to scenarios requiring the transformation of a point cloud or pose to a custom reference frame. Note: To apply the transformation, the point cloud or pose must be defined in the same reference frame as the customized reference pose. For detailed function introduction and usage procedure, see Frame Transformation.
Dual Robot Relative Pose Calibration
This function is applicable to scenarios where the pose relationship between two robots needs to be calibrated. At least one robot must be equipped with a camera. For detailed function introduction and usage procedure, see Dual Robot Relative Pose Calibration.
Pose Correction for Assembly
This function is applicable to scenarios where, after a robot has picked a target object, a camera is used for a second image capture to identify the target object, guiding the robot to perform high-precision assembly. Both 3D and 2D cameras are supported for the second image capture. For detailed function introduction and usage procedure, see Pose Correction for Assembly.