Is there a way to automatically fix misalignment between frames?

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Ajay Anand 2022-5-18

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评论： Ajay Anand 2022-5-22

Hi everyone,

I am trying to fix the position violation between these two frames but the problem is that the location of these frames can be changed using external parameters.

Therefore, I was wondering if there is a way to automatically perform the rigid transform and avoid having the end user manually change these transformation parameters?

Thank you in advance!

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Answer 1

Steve Miller 2022-5-22

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Hi @Ajay Anand.

You could try to automate this, but it could be challenging.

Build a model with a Rigid Transform parameterized with MATLAB variables AND a Transform Sensor between the two frames you wish to connect. Log the outputs of the Transform Sensor to identify the offset between the frames

Steps you need to automate in MATLAB

Comment out Rigid Transform
Simulate the model
From the logged simulated results, obtain the first value reported by the Transform Sensor
Change the values of the MATLAB variables to the values reported.
Uncomment Rigid Transform.

Potentially a better way to solve this problem (if possible) is to connect the frames with a joint that will permit a degree of freedom along/about the axis where the offset will occur. Then it doesn't matter if they become misaligned.

--Steve