Robot Teachpoint

Provides a tool that allows you to create, position, orient and scale a teachpoint entity precisely. The teachpoint entity can then be later selected as a target entity for a move instruction on the robot controller component.

Properties

• Origin: The initial transform origin (position) for the teachpoint entity.
• Y Axis: The y axis (direction) of the transform for the teachpoint entity.
• X Axis: The x axis (direction) of the transform for the teachpoint entity.
• Offset: The position offset applied to the transform origin.
• Angle: The angle to rotate teachpoint entity about the y axis.
• Scale: The uniform scale of the transform for the teachpoint entity.
• Name: The name of the teachpoint entity.
• Material: The graphics material of the teachpoint entity.

Implementation Details

The position of the teachpoint entity is determined from the vector sum of the origin and offset properties.

• The origin is a world-space position.
• The offset is interpreted in the local-space of the coordinate system for the teachpoint entity.

The orientation of the teachpoint entity is determined from the y axis, x axis and angle properties.

• The y axis of the coordinate frame is specified by the user.
• The x axis of the coordinate frame is determined using the Gram-Schmidt process to make the specified x axis orthonormal to the y axis.
• The z axis of the coordinate frame is determined as the vector orthonormal to the x and z axes.
• The coordinate frame is then rotated counterclockwise by the specified angle about the +y axis.

Changelog

1.0.0

Initial release.