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The UR robot is a 6 axis robot so the calculation of the robot coordinates is a complex equation that involves rotation vectors as well. Therefore the angle or rotation of the tool head can be different and therefore thrown into the equation.
For the better understanding then focus on the X, Y and Z position first. Just consider the robot in an X, Y, and Z coordinate system. Easy to see in the coordinate system. And this can also be seen on the Information window in the Move screen. In this case the X, Y, Z coordinates is shown with the base as reference.
This is paramount to understand otherwise it is very easy to get confused. Maybe consider your arm — the finger tip position is the X, Y and Z coordinates from your body — whereas the Rotation of your wrist is the Rx, Ry and Rz — with the X, Y and Z axis shifted to your fingertip.
X, Y, Z vector versus Joint angles. This part of the screen shows the Joint angle of each joint. Note each is expressed in degrees. As seen above the Joint angles are shown in degrees, but this could also be expressed in Radians.
And this is important to notice because later when used in script programming — these joint angles has to be provided in Radians. Formula for converting Radians to degrees on UR and degrees to Radians. The calculation of the tool head position is equations where these factors are a part. The normal tool head position facing down is degree from the origin of these vectors.
Put the robot in this pose i. Current value for RX. Press Auto the perform the move. The robot tool head has turned around the X axis. Using the Arrow keys for the tool head.
Better to see on a physical robot. When the robot tool head is facing down the RX is turned degree i. The X, Y and Z are the position of the robot tool head in mm as in a coordinate system. Rx is the angle around the X axis in Radians. Observe how there is a Red, Green and Blue line below the robot graphics.
The Red line illustrates the X axis, the Green line illustrates the Y axis and the blue line illustrates the Z axis. These entire Axes are seen from the tool head point.
Pay attention to these arrows. Focus now only on these arrows and press the Red arrow on the left side. Turn the Tool head around the X axis Rx. Turn the Tool head back around the X axis Rx. Notice how the robot turn the tool head along the X axis. Turn the Tool head back around the X axis Rx Notice how the robot turn the tool head along the X axis.
Turn the Tool head around the Y axis Ry. Turn the Tool head back around the Y axis Ry. Notice how the robot turn the tool head along the Y axis. Turn the Tool head around the Z axis Rz.Solve Using an Augmented Matrix, Simplify.
Tap for more steps Write as a fraction with denominator. Multiply and. Write the system of equations in matrix form. Row reduce. Tap for more steps Perform the Use the result matrix to declare the final solutions to the system of equations. The solution is the set of ordered pairs that.
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If we call this augmented matrix, matrix A, then I want to get it into the reduced row echelon form of matrix A. And matrices, the convention is, just like vectors, you make them nice and bold, but use capital letters, instead of lowercase letters.
So this is your augmented matrix and then you work on it to transform it into echelon form. My linear algebra professor tells me that this is the most common method that programmers use to write calculations on systems of equations. This online calculator will help you to solve a system of linear equations using inverse matrix method.
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