Skip to content

13A - How Kinematics relate Target Tracking

▶ 13A - How Kinematics relate Target Tracking — Watch on YouTube

in an earlier video we looked at a in an earlier video we looked at a Target tracking move and we showed how Target tracking move and we showed how Target tracking move and we showed how Target tracking allowed you to follow Target tracking allowed you to follow Target tracking allowed you to follow the uh Target throughout the move even the uh Target throughout the move even the uh Target throughout the move even though you only have two way points this though you only have two way points this though you only have two way points this is an example is an example is an example [Music] [Music] [Music] here I run this move [Music] [Music] here and run it here and run it here and run it back back back you can see that the uh rig keeps you can see that the uh rig keeps you can see that the uh rig keeps looking at the Target right through the looking at the Target right through the looking at the Target right through the move even though we've only got two way move even though we've only got two way move even though we've only got two way points if I were to turn off Target tracking and make roll relative into tracking and make roll relative into roll moves then the move that we get roll moves then the move that we get roll moves then the move that we get without Target tracking taking without Target tracking taking without Target tracking taking place looks like this this just to uh show you that as you can see it doesn't look at that as you can see it doesn't look at the Target throughout the move at each the Target throughout the move at each the Target throughout the move at each end position it's perfectly in line end position it's perfectly in line end position it's perfectly in line because we have put those two positions because we have put those two positions because we have put those two positions in and stored the measurements to the in and stored the measurements to the in and stored the measurements to the Target but until we do have Target Target but until we do have Target Target but until we do have Target tracking on and roll uh level or tracking on and roll uh level or tracking on and roll uh level or relative set doesn't follow the target relative set doesn't follow the target relative set doesn't follow the target all the way through the move all the way through the move all the way through the move so what is it about Target tracking that so what is it about Target tracking that so what is it about Target tracking that is necessary for us to be able to do is necessary for us to be able to do is necessary for us to be able to do that I'm going to turn on target that I'm going to turn on target that I'm going to turn on target tracking again I'm going to turn on Roll tracking again I'm going to turn on Roll tracking again I'm going to turn on Roll relative again so that we have this relative again so that we have this relative again so that we have this move going to run it again in order for that to work we need again in order for that to work we need to be able to to be able to to be able to say exactly what each axis of motion of say exactly what each axis of motion of say exactly what each axis of motion of the machine does what to the the machine does what to the the machine does what to the camera and I'll take it to home and I'll camera and I'll take it to home and I'll camera and I'll take it to home and I'll show you the specifics on this go to show you the specifics on this go to show you the specifics on this go to home go to so we're in the home position and to so we're in the home position and this is our camera it's just sitting this is our camera it's just sitting this is our camera it's just sitting looking into space at the moment but uh looking into space at the moment but uh looking into space at the moment but uh I want to illustrate to you exactly what I want to illustrate to you exactly what I want to illustrate to you exactly what it is that we are doing with the camera it is that we are doing with the camera it is that we are doing with the camera in order in order in order for uh Target tracking to work properly for uh Target tracking to work properly for uh Target tracking to work properly we need six axes of motion built into we need six axes of motion built into we need six axes of motion built into the robot that do the correct things to the robot that do the correct things to the robot that do the correct things to the the the camera we need an axis of motion that camera we need an axis of motion that camera we need an axis of motion that moves the camera in the X moves the camera in the X moves the camera in the X direction we need an axis of motion that direction we need an axis of motion that direction we need an axis of motion that moves the camera in the y direction and moves the camera in the y direction and moves the camera in the y direction and we need an axis of motion that does we need an axis of motion that does we need an axis of motion that does moves the camera in the Zed direction as moves the camera in the Zed direction as moves the camera in the Zed direction as well as that we well as that we well as that we need fourth axis of motion that takes need fourth axis of motion that takes need fourth axis of motion that takes the Target the Target the Target and and and pans the camera show us to look at the pans the camera show us to look at the pans the camera show us to look at the Target we need an AIS of motion that Target we need an AIS of motion that Target we need an AIS of motion that tilts the camera in order to look at the tilts the camera in order to look at the tilts the camera in order to look at the Target and we need that AIS of motion Target and we need that AIS of motion Target and we need that AIS of motion that measures where the target is that measures where the target is that measures where the target is distance-wise distance-wise distance-wise from the camera that way if we have from the camera that way if we have from the camera that way if we have those six axes of motion built into our those six axes of motion built into our those six axes of motion built into our machine we can Define exactly where the machine we can Define exactly where the machine we can Define exactly where the camera is in 3D space and we can Define camera is in 3D space and we can Define camera is in 3D space and we can Define exactly where the target is in 3D space exactly where the target is in 3D space exactly where the target is in 3D space and we can do that right the way through and we can do that right the way through and we can do that right the way through the move these axes of motion are the move these axes of motion are the move these axes of motion are defined in a fire defined in a fire defined in a fire that is that is that is necessary in order to have Target necessary in order to have Target necessary in order to have Target tracking to work and the file is called tracking to work and the file is called tracking to work and the file is called a kinematics file kinematics just means a kinematics file kinematics just means a kinematics file kinematics just means how something moves so this is an how something moves so this is an how something moves so this is an kinematic setup for this particular kinematic setup for this particular kinematic setup for this particular robot and it says at the top rig model robot and it says at the top rig model robot and it says at the top rig model robot ur10e if we had a different rig robot ur10e if we had a different rig robot ur10e if we had a different rig model there it would have the wrong model there it would have the wrong model there it would have the wrong kinematics for this robot the kinematics kinematics for this robot the kinematics kinematics for this robot the kinematics must be tied to the robot otherwise must be tied to the robot otherwise must be tied to the robot otherwise flare thinks the robot is the wrong flare thinks the robot is the wrong flare thinks the robot is the wrong shape now this is the correct file the shape now this is the correct file the shape now this is the correct file the correct kinematics file for this correct kinematics file for this correct kinematics file for this particular robot and we Define here what particular robot and we Define here what particular robot and we Define here what each axis of motion does to the camera each axis of motion does to the camera each axis of motion does to the camera these are specifications of what each these are specifications of what each these are specifications of what each AIS of motion does the camera also here AIS of motion does the camera also here AIS of motion does the camera also here we have the lengths of various parts we we have the lengths of various parts we we have the lengths of various parts we have a jib length we have an outter arm have a jib length we have an outter arm have a jib length we have an outter arm length we have an off set there from the length we have an off set there from the length we have an off set there from the Tilt from the to the left of the pan we Tilt from the to the left of the pan we Tilt from the to the left of the pan we have an offset there from the axis tilt have an offset there from the axis tilt have an offset there from the axis tilt down to the roll these measurements are down to the roll these measurements are down to the roll these measurements are part of that robot and these part of that robot and these part of that robot and these specifications of what each axis does to specifications of what each axis does to specifications of what each axis does to the camera are part of that robot we the camera are part of that robot we the camera are part of that robot we also specify in here that we are top also specify in here that we are top also specify in here that we are top mounting our camera just in case our mounting our camera just in case our mounting our camera just in case our camera is aligned in some other camera is aligned in some other camera is aligned in some other way we have actually have a normal base way we have actually have a normal base way we have actually have a normal base we have a we're mounted on the floor we have a we're mounted on the floor we have a we're mounted on the floor just in case you wanted to put your rig just in case you wanted to put your rig just in case you wanted to put your rig on the on the on the ceiling and we have a sequence here of ceiling and we have a sequence here of ceiling and we have a sequence here of the head axis for tilt pan roll that's the head axis for tilt pan roll that's the head axis for tilt pan roll that's the sequence that this robot has in the sequence that this robot has in the sequence that this robot has in order to be able to do the movements order to be able to do the movements order to be able to do the movements that we need to do so this file is that we need to do so this file is that we need to do so this file is specific to the Target tracking axis if specific to the Target tracking axis if specific to the Target tracking axis if Target tracking doesn't work then this Target tracking doesn't work then this Target tracking doesn't work then this somewhere this file is wrong the other somewhere this file is wrong the other somewhere this file is wrong the other aspect aspect aspect of flare that is necessary to have the of flare that is necessary to have the of flare that is necessary to have the robot do exactly what you want it to do robot do exactly what you want it to do robot do exactly what you want it to do is you must have Z the correct zero home is you must have Z the correct zero home is you must have Z the correct zero home positions this kinematics file which positions this kinematics file which positions this kinematics file which I'll open again I'll open again I'll open again now is measured and specified with now is measured and specified with now is measured and specified with respect to the home position of the rig respect to the home position of the rig respect to the home position of the rig and if the home position of the rig is and if the home position of the rig is and if the home position of the rig is incorrect then when you shoot something incorrect then when you shoot something incorrect then when you shoot something today and then go to shoot it again today and then go to shoot it again today and then go to shoot it again tomorrow or shoot it again in a week's tomorrow or shoot it again in a week's tomorrow or shoot it again in a week's time or go on a remote location and time or go on a remote location and time or go on a remote location and shoot the same move again in order to shoot the same move again in order to shoot the same move again in order to match these two moves together you won't match these two moves together you won't match these two moves together you won't have a match because the home positions have a match because the home positions have a match because the home positions were not the same on both setups the were not the same on both setups the were not the same on both setups the third thing that's is necessary in order third thing that's is necessary in order third thing that's is necessary in order to make sure that your your rig will to make sure that your your rig will to make sure that your your rig will Target traffic properly is you need to Target traffic properly is you need to Target traffic properly is you need to have the correct setups in your lens so have the correct setups in your lens so have the correct setups in your lens so that where the camera noal point is Asaf that where the camera noal point is Asaf that where the camera noal point is Asaf has mentioned previously where the has mentioned previously where the has mentioned previously where the camera nodal point is which is where the camera nodal point is which is where the camera nodal point is which is where the lens actually has the point one is lens actually has the point one is lens actually has the point one is looking from it is effectively the looking from it is effectively the looking from it is effectively the camera you have to know where that camera you have to know where that camera you have to know where that position is with regard to the rest of position is with regard to the rest of position is with regard to the rest of the rig of otherwise the target tracking the rig of otherwise the target tracking the rig of otherwise the target tracking doesn't work because it doesn't know doesn't work because it doesn't know doesn't work because it doesn't know where the camera is so those three where the camera is so those three where the camera is so those three things are all necessary in order for things are all necessary in order for things are all necessary in order for Target tracking to work if this is Target tracking to work if this is Target tracking to work if this is correctly set up on each of the rigs correctly set up on each of the rigs correctly set up on each of the rigs that you have it works for many that you have it works for many that you have it works for many different shapes of rig as long as the different shapes of rig as long as the different shapes of rig as long as the correct kinematics model is used with correct kinematics model is used with correct kinematics model is used with that shape of rig then you can do good that shape of rig then you can do good that shape of rig then you can do good Target tracking if it is really well set Target tracking if it is really well set Target tracking if it is really well set up you will be able to fill something up you will be able to fill something up you will be able to fill something and then export your move to a 3D and then export your move to a 3D and then export your move to a 3D Graphics engine and have a correct match Graphics engine and have a correct match Graphics engine and have a correct match between the move and the path or any between the move and the path or any between the move and the path or any background that you create ECG