15.1:Base feature
15.2:Tool (TCP) feature
Use the Point feature, Line feature and/or Plane feature to define a feature pose.
These features are positioned through a method that uses the current pose of the TCP in the
work area. So you can teach feature locations using Freedrive , or "jogging" to move the robot to
the desired pose.
Selecting a feature depends on the type of object being used and the precision requirements.
Use the Line feature and Plane feature where possible as they are based on more input points.
More input points mean higher precision.
For example, you can accurately define the direction of a linear conveyor, by defining two points
of a Line feature with as much physical separation as possible. You can also use the Point
feature to define a linear conveyor, however, you must point the TCP in the direction of the
conveyor's movement.
Using more points to define the pose of a table means that the orientation is based on the
positions rather than the orientation of a single TCP. A single TCP orientation is harder to
User Manual 141 UR10
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