What you will learn
- Relative movements in trajectory wizard.
- Relative move function block.
- Trajectory parameter structure tree.
In the drag&bot Trajectory Wizard we can setup the robot to move relatively to a given pose.
The following steps are necessary to move the robot relatively to a reference pose:
Open the Trajectory Wizard.
Set the motion type to Relative Waypoint.
In Pose Reference: Select your reference pose.
In Pose: Set the delta relative to the reference e.g. z = 0.1.
Your robot will move relatively to a fixed pose reference. You may also link the whole or a part of the relative position to create movement relative to dynamic generated positions. E.g. move 10 cm up from a camera localized position.
Function Block: "Move Cartesian Relative"¶
This function block offers a similar functionality with a simplified interface.