welding_test.py

from robolink import *    # API to communicate with RoboDK for simulation and offline/online programming
from robodk import *      # Robotics toolbox for industrial robots(TCP welding)

# Any interaction with RoboDK must be done through RDK:
RDK = Robolink()

# Select a robot (popup is displayed if more than one robot is available)
robot = RDK.ItemUserPick('Select a robot', ITEM_TYPE_ROBOT)
if not robot.Valid():
    raise Exception('No robot selected or available')

    
# get the current position of the TCP with respect to the reference frame:
# (4x4 matrix representing position and orientation)
target_ref = robot.Pose()
pos_ref = target_ref.Pos()
print("Drawing a polygon around the target: ")
print(Pose_2_TxyzRxyz(target_ref))

robot.MoveJ(target_ref) #first point

# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
robot.setZoneData(10) # rounding parameter (Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering, ...)
robot.setSpeed(200) # Linear speed

n_sides = 6
R = 100

# make a hexagon around reference target:
for i in range(n_sides+1):
    ang = i*2*pi/n_sides #angle: 0, 60, 120, ...

    #-----------------------------
    # Movement relative to the reference frame
    # Create a copy of the target
    target_i = Mat(target_ref)
    pos_i = target_i.Pos()
    pos_i[0] = pos_i[0] + R*cos(ang)
    pos_i[1] = pos_i[1] + R*sin(ang)
    target_i.setPos(pos_i)
    print("Moving to target %i: angle %.1f" % (i, ang*180/pi))
    print(str(Pose_2_TxyzRxyz(target_i)))
    robot.MoveL(target_i)
    target_i = target_ref * rotz(ang) * transl(R,0,0) * rotz(-ang)
    robot.MoveL(target_i)

# move back to the center, then home:
robot.MoveL(target_ref)
print('Done')