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机器人搬迁后，机器人新安装位置和工件关系会发生变化。例如下图左侧为原始位置，右侧为新位置。如果原始轨迹基于某工件坐标系，则重做工件坐标系即可还原轨迹。 若原始轨迹记录基于wobj0（默认的wobj0和机器人的base在一起）。 如果能测定新的机器人base和搬迁前base（wobj0）的关系，则可以令搬迁后的wobj0和搬迁前的wobj0位姿相同，即下图的wobj0_new和搬迁前的wobj0一致。 假设搬迁过程TCP不变。 在搬迁前，对产品上记录多个特征点记录（建议至少4点或以上，最多10点）。在搬迁后，使用相同的TCP，记录对应的特征点新位姿。 可以参考以下代码进行示教和运行。 修改Base Frame并重启后，可以直接运行原有轨迹。
对于现场有多个wobj，也可以采用以下方法，因为wobj均基于wobj0计算。
! 搬迁前记录的点CONST robtarget point1:=[[817.2953,-130.2663,757.0421],[1.003332E-07,3.023174E-08,-1,-7.385786E-10],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point2:=[[1217.295,-130.2663,757.042],[2.772383E-07,-2.070071E-08,-1,-4.376369E-08],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point3:=[[1217.295,169.7337,757.0421],[2.223997E-07,5.286756E-09,-1,-2.901647E-08],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point4:=[[817.2953,169.7337,757.042],[3.204404E-07,3.539003E-08,-1,2.106348E-08],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
! 搬迁后记录的点CONST robtarget point10:=[[817.2953,-630.2662,757.042],[6.42871E-08,8.400629E-08,-1,-1.437866E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point20:=[[1217.295,-630.2662,757.0419],[1.537106E-07,1.186E-07,-1,-1.481581E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point30:=[[1217.295,-330.2663,757.0419],[2.557981E-07,1.034749E-07,-1,-1.636885E-07],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONST robtarget point40:=[[817.2953,-330.2663,757.0419],[2.868262E-07,1.001469E-07,-1,-7.791146E-08],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS pose Frame1:=[[0.000119209,500,5.96046E-5],[1,1.10517E-7,-7.45058E-8,-7.40146E-15]];PERS robtarget p{4};PERS robtarget pNew{4};VAR num maxErr;VAR num meanErr;
PROC cal1() p{1}:=point1; p{2}:=point2; p{3}:=point3; p{4}:=point4; ! p为搬迁前的点 pNew{1}:=point10; pNew{2}:=point20; pNew{3}:=point30; pNew{4}:=point40; ! pNew为搬迁后的点
frame1:=DefAccFrame(Pnew,p,4,maxErr,meanErr); ! 可以人工把frame1的值抄到 配置-moc-robot下的base_Frame值，注意距离单位是m stop; WriteCfgData "/MOC/Robot/ROB_1","base_frame_pos_x",frame1.trans.x/1000; WriteCfgData "/MOC/Robot/ROB_1","base_frame_pos_y",frame1.trans.y/1000; WriteCfgData "/MOC/Robot/ROB_1","base_frame_pos_z",frame1.trans.z/1000; WriteCfgData "/MOC/Robot/ROB_1","base_frame_orient_u0",frame1.rot.q1; WriteCfgData "/MOC/Robot/ROB_1","base_frame_orient_u1",frame1.rot.q2; WriteCfgData "/MOC/Robot/ROB_1","base_frame_orient_u2",frame1.rot.q3; WriteCfgData "/MOC/Robot/ROB_1","base_frame_orient_u3",frame1.rot.q4; stop;ENDPROC
PROC rModify() ! 搬迁前示教的点 MoveL point1,v1000,fine,MyTool; MoveL point2,v1000,fine,MyTool; MoveL point3,v1000,fine,MyTool; MoveL point4,v1000,fine,MyTool;ENDPROC
PROC rModify2() ! 搬迁后示教的点 MoveL point10,v1000,fine,MyTool; MoveL point20,v1000,fine,MyTool; MoveL point30,v1000,fine,MyTool; MoveL point40,v1000,fine,MyTool;ENDPROC
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