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posx()

Definition

posx(x=0, y=0, z=0, A=0, B=0, C=0, ori_type=None, sol=None, turn=None)

Features

This function designates the joint space angle in coordinate values.

Note

From SW version V3.2, various orientation types are supported.

Parameters

Parameter Name	Data Type	Default Value	Description
x	float list posx	0	x position or position list or posx
y	float	0	y position
z	float	0	z position
A	float	0	A orientation(z-direction rotation of reference coordinate system)
B	float	0	B orientation(y-direction rotation of A rotated coordinate system)
C	float	0	C orientation(z-direction rotation of A and B rotated coordinate system)
ori_type	int	None	orientation type DR_ELR_ZYZ(if None): Euler Angles(z-y'-z'', in degrees) DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees) DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees) DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees) DR_ROTVEC: 3D rotation vector (angle/axis representation, in degrees) DR_QUAT: unit quaternion(x, y, z, w)
sol	int	None	solution space None: Robot configuration is automatically selected - will be supported later 0~7: Select robot configuration (reference function: ikin_norm)
turn	int	None	joint multi turn - Will be supported later None: Joint multi turn is automatically selected.

Return

Value	Description
posx	task space point

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred

Example

Python

movej([0,0,90,0,90,0], v=10, a=20)

x2 = posx(400, 300, 500, 0, 180, 0)			# Euler ZYZ

x3 = posx([350, 350, 450, 0, 180, 0])       # x3=posx(350, 350, 450, 0, 180, 0), Euler ZYZ

x4 = posx(x2)                                  # x4=posx(400, 300, 500, 0, 180, 0), Euler ZYZ

x5 = posx(400, 300, 500, 0, 180, 0, DR_ELR_ZYX) # Euler ZYX

x6 = posx([400, 300, 500, 0, 0, 0, 1], ori_type=DR_QUAT) # Quaternion, only list input available

x6.ori_type = DR_ROTVEC							# Transform to rot vec (setter method)

x7 = posx(x6, ori_type=DR_FIX_XYZ)				# Constructor as the other orientation type

movel(x2, v=100, a=200)