Adept AdeptSight Reference Guide - Manual (Page 305)

InverseKinematics
VLOCATION
10060
For a robot with a tool-mounted or an arm-mounted camera, InverseKinematics retrieves the location to
which to move the robot so that the camera sees a specific point in the workspace (robot frame of
reference) at a specific point in the image (image frame of reference). The X-Y coordinates of the point in
the workspace are defined by RobotXPosition and RobotYPosition and X-Y coordinates of the point in the
image are defined by VisionXPosition and VisionYPosition.If the camera is arm-mounted, the configuration
used in the kinematic calculation is based on the current arm configuration of the robot. Therefore, it no
longer uses the RobotConfiguration property. If the camera is tool-mounted, there are an infinite number
of solutions for positioning the robot so you must specify the angle of rotation between the Vision X Axis
and the Robot X axis, using the VisionRotation property.
NOTE: Inverse kinematics calculations for the Cobra i-series (i600 and i800) robots are not supported.
Syntax
MicroV+
value = VPARAMETER (sequence_id, tool_id, instance_id, 10060, index_id, frame_id)
V+
value = VPARAMETER ($ip, sequence_id, tool_id, instance_id, 10060, index_id, frame_id)
Type
Location
Parameters
$ip IP address of the vision server. Applies to V+ syntax only. Uses standard IP
address format, for example: 192.168.1.120.
sequence_id Should always be set to -1.
tool_id The camera number, as defined in Keyword Mapping parameter of the
AdeptSight Camera Calibration (in the Adept ACE workspace).
instance_id Not used.
InverseKinematics
AdeptSight Reference Guide, v3.2.x, Updated: 5/8/2012
Page 305