How to collect the current position of the robot arm X, Y, Z axis

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question

立洲 asked May 01 2022 at 8:00 AM Jason Lightfoot edited May 03 2022 at 11:10 AM

How to collect the current position of the robot arm X, Y, Z axis

我收集機械臂每次改變運動的XYZ軸坐標並需要寫入表格（位置表）

我應該如何獲得這些信息，希望你能幫我修改這個模型並得到一個可以解決問題的答案，謝謝。

Translation: "I collect the XYZ axis coordinates of each movement of the robotic arm and need to write to a table (position table) How should I get this information, I hope you can help me modify this model and get an answer that can solve the problem, thanks."

Software Version:

FlexSim 20.0.10

globaltable robot arm axis

collect-robot-arm-axis-coordinates.fsm (1.2 MiB)

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Answer 1 · 2022-05-01T08:11:20Z

Jason Lightfoot answered May 01 2022 at 8:11 AM 立洲 commented May 03 2022 at 11:02 AM

It sounds like you want to use getLocation, rotation and project which will allow you to easily find all required x,y,z relative to your desired coordinate space. Assign them to a Vec3, say, armLoc1, and then access them using armLoc1.x, armLoc1.y, armLoc1.z.

You may need to run updatelocations on the objects before you access them.

· 7

立洲 commented · May 02 2022 at 2:57 AM

是的，這就是我想做的

有沒有可以給我參考的例子？

Translation: "Yes, that's what I want to do. Is there an example that I can refer to?"

0 ·

Jason Lightfoot ♦♦ 立洲 commented · May 02 2022 at 12:04 PM

There's not that much to it. Let's say you want to find the coordinate of the centre of joint6 in model space (the root of the model tree).

Object joint6=Model.find("Basic /Joint 1/Joint 2/Joint 3/Joint 4/Joint 5/Joint 6");
Vec3 j6loc=joint6.getLocation(0.5,0.5,0.5);   //  The location of joint6 in it's container's space.  Use 0.5 for x,y and z meaning he center of the bounding box
Vec3 j6modelCoords=j6loc.project(joint6.up, model());  // translates the joint5 coordinates to model coordinates.
applicationcommand("outputconsole");
print("X:",j6modelCoords.x,"Y:",j6modelCoords.y,"Z:",j6modelCoords.z);

I see in your model that you've not put the joints in the correct locations. If you want to try that, use the centroid attribute in the tree (">spatials/centroid"). Set its value to 2 and then add 3 nodes for the coordinates of the joint relative to the objects own coordinate space.

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1651493694225.png (2.7 KiB)

立洲 Jason Lightfoot ♦♦ commented · May 02 2022 at 1:46 PM

Thank you, this answer helped me a lot

I also want to know, how to replace outputconsole with Global Table

I need to use Global Table to collect this relevant information

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