check_orientation_condition(axis, min, max, ref, mod)
Features
This function checks the difference between the current pose and the specified pose of the robot end effector. It returns the difference between the current pose and the specified pose in rad with the algorithm that transforms it to a rotation matrix using the "AngleAxis" technique. It returns True if the difference is positive (+) and False if the difference is negative (-). It is used to check if the difference between the current pose and the rotating angle range is + or -. For example, the function can use the direct teaching position to check if the difference from the current position is + or - and then create the condition for the orientation limit. This condition can be repeated with the while or if statement
-
Setting Min only: True if the difference is + and False if -
-
Setting Min and Max: True if the difference from min is - while the difference from max is + and False otherwise
-
Setting Max only: True if the maximum difference is + and False otherwise
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
axis |
int |
- |
axis
|
|
min |
posx |
- |
posx or position list |
|
list (float[6]) |
|||
|
max |
posx |
- |
posx or position list |
|
list (float[6]) |
|||
|
ref |
int |
None |
reference coordinate
|
|
mod |
int |
DR_MV_MOD_ABS |
Movement basis
|
Return
|
Value |
Description |
|---|---|
|
True |
The condition is True. |
|
False |
The condition is False. |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
posx1 = posx(400,500,800,0,180,30)
posx2 = posx(400,500,500,0,180,60)
CON1= check_orientation_condition(DR_AXIS_C, min=posx1, max=posx2)
# If the current task coordinate posxc = posx(400, 500, 500, 0, 180, 40)
# CON1=True since posx1 Rz=30 < posxc Rz=40 < posx2 Rz=60
CON2= check_orientation_condition(DR_AXIS_C, min=posx1)
# If the current task coordinate posxc = posx(400, 500, 500, 0, 180, 15)
# CON2=False since posx1 Rz=30 > posxc Rz=15
CON3= check_orientation_condition(DR_AXIS_C, max=posx2)
# If the current task coordinate posxc = posx(400, 500, 500, 0, 180, 75)
# CON2=False since posx1 Rz=75 > posxc Rz=60
Related commands
check_orientation_condition(axis, min, max, ref, mod, pos)
Features
This function checks the difference between the current pose and the rotating angle range of the robot end effector. It returns the difference (in rad) between the current pose and the rotating angle range with the algorithm that transforms it to a rotation matrix using the "AngleAxis" technique. It returns True if the difference is positive (+) and False if the difference is negative (-). It is used to check if the difference between the current pose and the rotating angle range is + or -. For example, the function can be used to set the rotating angle range to min and max at any reference position, and then determine the orientation limit by checking if the difference from the current position is + or -. This condition can be repeated with the while or if statement
-
Setting Min only: True if the difference is + and False if -
-
Setting Min and Max: True if the difference from min is - while the difference from max is + and False if the opposite.
-
Setting Max only: True if the maximum difference is + and False otherwise
Note
Range of rotating angle: Refers to the relative angle range (min, max) basded on the set axis from the given position. The reference coordinate is defined according to the given position based on ref.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
axis |
int |
- |
axis
|
|
min |
float |
DR_COND_NONE |
Minimum value |
|
max |
float |
DR_COND_NONE |
Maximum value |
|
ref |
int |
None |
reference coordinate
|
|
mod |
int |
DR_MV_MOD_REL |
Movement basis
|
|
pos |
posx |
- |
posx or position list |
|
list (float[6]) |
Return
|
Value |
Description |
|---|---|
|
True |
The condition is True. |
|
False |
The condition is False. |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
posx1 = posx(400,500,800,0,180,15)
CON1= check_orientation_condition(DR_AXIS_C, min=-5, mod=DR_MV_MOD_REL, pos=posx1, DR_WORLD)
# If the current task coordinate posxc = posx(400, 500, 500, 0, 180, 40)
# CON1=True since posx1 Rz=15 – (min=5) < posxc Rz=40
CON1= check_orientation_condition(DR_AXIS_C, max=5, mod=DR_MV_MOD_REL, pos=posx1)
# If the current task coordinate posxc = posx(400, 500, 500, 0, 180, 40)
# CON1=False since posxc Rz=40 > posx1 Rz=15 + (max=5)