InverseKinematics Example This example illustrates the use of the following properties: InverseKinematics, RobotXPosition, .PROGRAM demo() RobotYPosition, VisionXPosition, VisionYPosition, and VisionRotation. ; This program will move the robot so that a given point in the ; robot frame of reference can be seen in a given point in the vision ; Coordinate system (Calibrated) ; This defines the IP address of the PC $ip = "192.168.0.223" ; This defines the point in the robot coordinate system that should ; be visible in the camera robot_x = 300 robot_y = 0 ; This is the point where the robot point should be seen in the ; camera coordinate system. These units are mm (Calibrated Image).
; When they are set to (0,0), it means the center of the image. ; Vision_rot only applies for a ToolMountedCamera vision_x = 0 vision_y = 0 vision_rot = 0 ; Tell ACE Sight what are the chosen values ; for configuration and vision points. VPARAMETER(-1, 1, 10401, 1) $ip = vision_x VPARAMETER(-1, 1, 10402, 1) $ip = vision_y VPARAMETER(-1, 1, 10403, 1) $ip = vision_rot WHILE TRUE DO ; Tell ACE Sight what are the chosen values for robot point.
VPARAMETER(-1, 1, 10404, 1) $ip = robot_x VPARAMETER(-1, 1, 10405, 1) $ip = robot_y ; Ask ACE Sight where to move the robot in order to make ; robot point seen in vision point SET loc = VLOCATION($ip, -1, 1, , 10060, 1) ; Move to the position MOVES loc ACE Reference Guide, 18317-000 Rev A Page 344 ID 10060: the value used to reference this property. index The robot number, as defined in Keyword Mapping parameter of the ACE Sight Camera Calibration (in the ACE workspace). frame id _ Not used.