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RodBurton

Robot Pos calculate relative to TOOL

Started by RodBurton, 25 Oct 2005

1 post in this topic

Posted 25 Oct 2005

Howdy all robotics engineers, My task is simple...to calculate a position using x and y offsets from the current position, in the tool coordinate system. In ABB robotics programming this would be a PosB = RelTool(PosA, xoffset, yoffset, zoffset, Xangle, Yangle, Zangle) Does the KUKA robots have an equivalent "RelTool" command?? The KUKA can move in the tool coordinate system using $IPO_MODE=#TCP however i cant find the right functions to calculate the new position. Please help ASAP. Rod.

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