InverseKinematics InverseKinematics VLOCATION 10060 For a robot with a tool-mounted or an arm-mounted camera, InverseKinematics retrieves the location to which to move the robot so the camera sees a specific point in the workspace (robot frame of reference) at a specific point in the image (image frame of reference). The X/Y-coordinates of the point in the workspace are defined by RobotXPosition and RobotYPosition, and the X/Y-coordinates of the point in the image are defined by VisionXPosition and VisionYPosition.
If the camera is arm-mounted, the configuration used in the kinematic calculation is based on the current arm configuration of the robot If the camera is tool-mounted, there are an infinite number of solutions for positioning the robot. Therefore, using the VisionRotation property, you must specify the angle of rotation between the vision X-axis and the robot X-axis. NOTE: Inverse kinematics calculations for the Cobra i-series (i600 and i800) robots are not supported.
Syntax MicroV+ value = VPARAMETER (sequence_id, tool_id, instance_id, 10060, index_id, frame_id) V+ value = VPARAMETER ($ip, sequence_id, tool_id, instance_id, 10060, index_id, frame_id) Type Location Parameters ACE Reference Guide, 18317-000 Rev A Page 343 $ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP address format, for example: 192.168.1.120. sequence id _ Should always be set to -1. tool id _ The camera number, as defined in Keyword Mapping parameter of the ACE Sight Camera Calibration (in the ACE workspace). instance id _ Not used.