URL

/rw/motionsystem/mechunits/{mechunit}/calib

Method

POST

URL Params

None

Data Params

method=BaseFrame Required
type=ROBOT Required
reference=[x, y, z] Required
point1=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point2=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point3=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point4=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point5=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point6=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point7=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point8=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point9=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]
point10=[x, y, z, q1, q2, q3, q4, j1, j4, j6, jx]

At least 3 points are required.

Success Response

HTTP_OK(200)

see HTTP Status codes

Example Response

<?xml version="1.0" encoding="UTF-8"?>
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<title>motionsystem</title>
<base href="http://localhost/rw/motionsystem/mechunits/ROB_1/"/>
</head>
<body>
<div class="state">
<a href="calib" rel="self"/>
<ul>
<li class="ms-mechunit-calib" title="calib">
<span class="x">-138.3185882568359</span>
<span class="y">-687.7495727539063</span>
<span class="z">-102.7207489013672</span>
<span class="q1">0.7739842534065247</span>
<span class="q2">-0.3647675812244415</span>
<span class="q3">0.2921652495861054</span>
<span class="q4">0.4272382259368897</span>
<span class="max-err">72.39798736572266</span>
<span class="min-err">53.4705924987793</span>
<span class="mean-err">36.10842514038086</span>
</li>
</ul>
</div>
</body>
</html>

Resources

x, y, z Represents base frame position
q1, q2, q3, q4 Represents base frame orientation
max-err Represents the maximum error for one positioning
min-err Represents the minimum error for one positioning
mean-err Represents the accuracy of the robot positioning against the tip

Error Response

BAD_REQUEST (400)

See Robot controller return codes

Sample Call

curl --digest -u "Default User":robotics -d "method=BaseFrame&type=ROBOT&reference=[0,0,0]&point1=[349.9289,7.176809,509.6597,0.5466173,-0.008585534,0.8373197,0.005604791,0,0,0,0]&point2=[285.9633,106.211,689.8639,0.7294637,-0.1187442,0.6607552,0.1310918,0,0,0,0]&point3=[269.1732,143.5324,689.8639,0.7190274,-0.1627988,0.6513019,0.1797274,0,0,0,0]&point4=[270.8943,144.4501,659.9161,0.6966563,-0.1687667,0.6751775,0.1741356,0,0,0,0]&point5=[304.7093,37.4411,659.9161,0.7167487,-0.04251764,0.6946503,0.04387021,0,0,0,0]&point6=[229.2431,28.16821,705.6543,0.7913748,-0.0372306,0.6082709,0.04843788,0,0,0,0]" -X POST "http://localhost/rw/motionsystem/mechunits/ROB_1/calib"

Note

As all the use-cases for this API are not know, limited use-case testing has been performed for this API.

Not supported in boot server.