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17 - The Four Main Cartesian Control Modes

▶ 17 - The Four Main Cartesian Control Modes — Watch on YouTube

we have mentioned the six axes necessary we have mentioned the six axes necessary in order to be able to do correct Target in order to be able to do correct Target in order to be able to do correct Target tracking this particular rig amongst the tracking this particular rig amongst the tracking this particular rig amongst the axes that we have seen in the kinematics axes that we have seen in the kinematics axes that we have seen in the kinematics model actually have those six axes I'm model actually have those six axes I'm model actually have those six axes I'm just going to show those to you now if I go to my rotate and look at the now if I go to my rotate and look at the axis setup this is the axis setup for axis setup this is the axis setup for axis setup this is the axis setup for each axis you have here the each axis you have here the each axis you have here the uh the connection to the network that uh the connection to the network that uh the connection to the network that that axis has you have here the limits that axis has you have here the limits that axis has you have here the limits in terms of the end limits and the uh in terms of the end limits and the uh in terms of the end limits and the uh soft limits and the velocities and soft limits and the velocities and soft limits and the velocities and acceleration you have the zeroing acceleration you have the zeroing acceleration you have the zeroing position you have the handeld box set up position you have the handeld box set up position you have the handeld box set up you have other or lots of other setups you have other or lots of other setups you have other or lots of other setups that make for this um axis of that make for this um axis of that make for this um axis of motion if you look at this it has Target motion if you look at this it has Target motion if you look at this it has Target tracking it's a Target tracking type tracking it's a Target tracking type tracking it's a Target tracking type axis and there are many types of axis axis and there are many types of axis axis and there are many types of axis that it could be but it is in this robot that it could be but it is in this robot that it could be but it is in this robot it is a target tracking type axis if we it is a target tracking type axis if we it is a target tracking type axis if we look at the lift is also a Target look at the lift is also a Target look at the lift is also a Target tracking axis if we look at the angle tracking axis if we look at the angle tracking axis if we look at the angle Target tracking tilt pan roll are all Target tracking tilt pan roll are all Target tracking tilt pan roll are all target tracking axes the focus axis is target tracking axes the focus axis is target tracking axes the focus axis is of course a focus type because that's of course a focus type because that's of course a focus type because that's what it does now of the six axis that we what it does now of the six axis that we what it does now of the six axis that we need in order to Target tracking roll need in order to Target tracking roll need in order to Target tracking roll does not move the camera around and does not move the camera around and does not move the camera around and therefore would not be something that is therefore would not be something that is therefore would not be something that is necessary in order to be Target tracking necessary in order to be Target tracking necessary in order to be Target tracking because the roll is actually going to be because the roll is actually going to be because the roll is actually going to be locked level or relative in in order to locked level or relative in in order to locked level or relative in in order to do the target tracking it is called a do the target tracking it is called a do the target tracking it is called a Target tracking axis because the target Target tracking axis because the target Target tracking axis because the target track in order to attack into function track in order to attack into function track in order to attack into function it needs to control the roll to keep it it needs to control the roll to keep it it needs to control the roll to keep it level other than that role the six axis level other than that role the six axis level other than that role the six axis we have rotate lift angle tilt Pan and we have rotate lift angle tilt Pan and we have rotate lift angle tilt Pan and the focus to define the distance to the the focus to define the distance to the the focus to define the distance to the Target are the six axes that we need in Target are the six axes that we need in Target are the six axes that we need in order to do Target tracking so we have here a robot that tracking so we have here a robot that has the necessary axes in order to do has the necessary axes in order to do has the necessary axes in order to do Target tracking and so we are capable of Target tracking and so we are capable of Target tracking and so we are capable of doing good Target tracking with this doing good Target tracking with this doing good Target tracking with this robot the capability to do Target robot the capability to do Target robot the capability to do Target tracking is a capability to move around tracking is a capability to move around tracking is a capability to move around in 3D space and through the kinematics in 3D space and through the kinematics in 3D space and through the kinematics model create model create model create axes individual axes of motion on each axes individual axes of motion on each axes individual axes of motion on each of the axes so as to put the camera in of the axes so as to put the camera in of the axes so as to put the camera in the correct place this facility allows the correct place this facility allows the correct place this facility allows us also to use something called us also to use something called us also to use something called cartisian control cartisian control is a cartisian control cartisian control is a cartisian control cartisian control is a system that is can be used to create system that is can be used to create system that is can be used to create moves moves moves and find waypoints it is only a tool but and find waypoints it is only a tool but and find waypoints it is only a tool but it uses the same mathematics as Target it uses the same mathematics as Target it uses the same mathematics as Target tracking tracking tracking would if we look over here and turn on would if we look over here and turn on would if we look over here and turn on look at cartisian control we have here look at cartisian control we have here look at cartisian control we have here world view rooll and up cartesians and world view rooll and up cartesians and world view rooll and up cartesians and locked word locked view locked rooll and locked word locked view locked rooll and locked word locked view locked rooll and lock up the first four world view locked lock up the first four world view locked lock up the first four world view locked World locked view are commonly and World locked view are commonly and World locked view are commonly and simply used to create moves and they are simply used to create moves and they are simply used to create moves and they are the most likely ones to to be used the most likely ones to to be used the most likely ones to to be used therefore I'm going to explain those to therefore I'm going to explain those to therefore I'm going to explain those to you you you now if I'm in a world cartisian now if I'm in a world cartisian now if I'm in a world cartisian system I have camera X camera y camera system I have camera X camera y camera system I have camera X camera y camera Zed Target X Target y Target Zed Target X Target y Target Zed Target X Target y Target Zed and the world cartisian is a Zed and the world cartisian is a Zed and the world cartisian is a universe that is aligned with the rail universe that is aligned with the rail universe that is aligned with the rail in other words if I move in camera X if in other words if I move in camera X if in other words if I move in camera X if you look at the diagram here you'll see you look at the diagram here you'll see you look at the diagram here you'll see what H actually happens if I'm moving what H actually happens if I'm moving what H actually happens if I'm moving camera X by going positive in X with my camera X by going positive in X with my camera X by going positive in X with my mouse my rig camera moves forward in a mouse my rig camera moves forward in a mouse my rig camera moves forward in a straight line along the rail a straight straight line along the rail a straight straight line along the rail a straight line move along the rail you'll also line move along the rail you'll also line move along the rail you'll also notice that the focus axis is changing notice that the focus axis is changing notice that the focus axis is changing because the target is not being moved because the target is not being moved because the target is not being moved if I look at my uh actual rig while I do if I look at my uh actual rig while I do if I look at my uh actual rig while I do that that's what's happening it's moving that that's what's happening it's moving that that's what's happening it's moving in the straight line with respect to the in the straight line with respect to the in the straight line with respect to the rail so in cartisian world when I move rail so in cartisian world when I move rail so in cartisian world when I move in y my camera moves in a straight line in y my camera moves in a straight line in y my camera moves in a straight line across the rail he's moving in a across the rail he's moving in a across the rail he's moving in a straight line across the straight line across the straight line across the rail at exactly right angles to the rail rail at exactly right angles to the rail rail at exactly right angles to the rail it's the nodal point of the camera that it's the nodal point of the camera that it's the nodal point of the camera that is moving and if we look at here and the camera is moving in a here and the camera is moving in a straight line across the rail and but straight line across the rail and but straight line across the rail and but you'll notice that also the camera you'll notice that also the camera you'll notice that also the camera continues to look at the Target because continues to look at the Target because continues to look at the Target because I'm not asking the target to I'm not asking the target to I'm not asking the target to move if I move in Zed in cesium world move if I move in Zed in cesium world move if I move in Zed in cesium world the camera moves in a straight line with the camera moves in a straight line with the camera moves in a straight line with respect to the rail at right angles to respect to the rail at right angles to respect to the rail at right angles to the rail so the camera is moving the rail so the camera is moving the rail so the camera is moving vertically at right angles to the vertically at right angles to the vertically at right angles to the rail and it continues to look at the rail and it continues to look at the rail and it continues to look at the Target because I'm not asking it to T Target because I'm not asking it to T Target because I'm not asking it to T change the target so if I change the target so if I change the target so if I now now now move over to there and move in X it move over to there and move in X it move over to there and move in X it moves in a straight line along the rail moves in a straight line along the rail moves in a straight line along the rail it doesn't move any other way other than it doesn't move any other way other than it doesn't move any other way other than the straight line with respect to the the straight line with respect to the the straight line with respect to the rail in Cartesian World motion so I'm rail in Cartesian World motion so I'm rail in Cartesian World motion so I'm now going to come back over here so I'm here so I'm there there there now at the moment I'm looking fairly now at the moment I'm looking fairly now at the moment I'm looking fairly accurately at my uh Target so I'm now accurately at my uh Target so I'm now accurately at my uh Target so I'm now going to go out of going to go out of going to go out of cartesians and I'm going to come to cartesians and I'm going to come to cartesians and I'm going to come to cartisian view and show you what happens cartisian view and show you what happens cartisian view and show you what happens here in cartisian view I am working in a here in cartisian view I am working in a here in cartisian view I am working in a different different different Universe in cartisian view I am aligned Universe in cartisian view I am aligned Universe in cartisian view I am aligned with the Viewpoint of the camera my with the Viewpoint of the camera my with the Viewpoint of the camera my universe in my movement in X does this universe in my movement in X does this universe in my movement in X does this it moves the camera in a straight line it moves the camera in a straight line it moves the camera in a straight line along its along its along its axis my movement in Y moves the camera axis my movement in Y moves the camera axis my movement in Y moves the camera around my target my movement in Zed moves the target my movement in Zed moves the camera around my target so I can go round so I can go round something I can go something I can go something I can go in and out and I can go out and I can go round that is view cartesians now I'm going to go back to cartesians now I'm going to go back to my original my original my original position that I started one now I'm going to look at the next one now I'm going to look at the next cartisian system called locked World in cartisian system called locked World in cartisian system called locked World in locked locked locked world the camera and Target are locked world the camera and Target are locked world the camera and Target are locked together so if I move in together so if I move in together so if I move in X my camera moves as it did before in a X my camera moves as it did before in a X my camera moves as it did before in a straight line with respect to the straight line with respect to the straight line with respect to the rail but my focus doesn't move and my rail but my focus doesn't move and my rail but my focus doesn't move and my target moves back as my camera moves target moves back as my camera moves target moves back as my camera moves forward so the target is moving with the forward so the target is moving with the forward so the target is moving with the camera in a straight line along the rail camera in a straight line along the rail camera in a straight line along the rail if I go in y my camera moves if I go in y my camera moves if I go in y my camera moves sideways but the camera keeps looking sideways but the camera keeps looking sideways but the camera keeps looking forward in order to forward in order to forward in order to maintain its maintain its maintain its Viewpoint as along the rail at right Viewpoint as along the rail at right Viewpoint as along the rail at right angles angles angles but moving the camera with it so the but moving the camera with it so the but moving the camera with it so the camera moving the target with it so the camera moving the target with it so the camera moving the target with it so the camera is moving the target with it so camera is moving the target with it so camera is moving the target with it so the two are staying in parallel to the the two are staying in parallel to the the two are staying in parallel to the rail if I move in Zed again the camera rail if I move in Zed again the camera rail if I move in Zed again the camera moves in a straight line going with moves in a straight line going with moves in a straight line going with respect to the rail at right angles and respect to the rail at right angles and respect to the rail at right angles and but the target is moving with it so the but the target is moving with it so the but the target is moving with it so the camera stays looking camera stays looking camera stays looking forward this again locked world again locked world cartesians so if I'm in that position cartesians so if I'm in that position cartesians so if I'm in that position there and I move to that position there I can also there I can also go back to my Cartesian View and in go back to my Cartesian View and in go back to my Cartesian View and in Cartesian view I also have camera pan Cartesian view I also have camera pan Cartesian view I also have camera pan camera tilt camera camera tilt camera camera tilt camera roll and in camera pan I can pan my roll and in camera pan I can pan my roll and in camera pan I can pan my camera to look at my camera to look at my camera to look at my Target and I can in camera Target and I can in camera Target and I can in camera tilt I tilt I tilt I can tilt my camera to look at my can tilt my camera to look at my can tilt my camera to look at my target target target now if I now go now if I now go now if I now go to locked view cartisian in locked view to locked view cartisian in locked view to locked view cartisian in locked view cartisian view but it is locked in a view view but it is locked in a view cartisian system so X again takes me in cartisian system so X again takes me in cartisian system so X again takes me in and out with respect to the Target and out with respect to the Target and out with respect to the Target but the target is moving with the but the target is moving with the but the target is moving with the camera this is locked view camera this is locked view camera this is locked view cartesians just to show you what is cartesians just to show you what is cartesians just to show you what is happening in there that is X that is x in locked view cartesians if X that is x in locked view cartesians if I go back to this and go now into y I go back to this and go now into y I go back to this and go now into y camera because my camera is camera because my camera is camera because my camera is in locked View and my target is going to in locked View and my target is going to in locked View and my target is going to move with the camera because they are move with the camera because they are move with the camera because they are locked together if I move in why my locked together if I move in why my locked together if I move in why my camera moves at right angles to the camera moves at right angles to the camera moves at right angles to the camera Viewpoint and my target moves camera Viewpoint and my target moves camera Viewpoint and my target moves with it so this looks like that on the camera so if I were to go to a position camera so if I were to go to a position go back to cartisian view and use go back to cartisian view and use go back to cartisian view and use Zed camera to go to there as an Zed camera to go to there as an Zed camera to go to there as an example then when I go to locked view I'm moving Zed it moves at right view I'm moving Zed it moves at right angles to my camera Viewpoint and the angles to my camera Viewpoint and the angles to my camera Viewpoint and the target moves with it as you can see here target moves with it as you can see here target moves with it as you can see here the target is moving with the target is moving with the target is moving with it as you can see here the target is moving with see here the target is moving with [Music] [Music] it these four systems cesium world it these four systems cesium world cartisian view locked world and locked cartisian view locked world and locked cartisian view locked world and locked view are the most view are the most view are the most common uh systems for finding way points common uh systems for finding way points common uh systems for finding way points in order to do normal Target tracking in order to do normal Target tracking in order to do normal Target tracking moves