Determine Tool Flange Pose

[eric.feldmann]

Given a pose and the tcp offset, is it possible to determine the pose value of the Tool Flange, equivalent to calling “get_actual_tool_flange_pose()”? I ask because in my application, I’m not actually moving to my Waypoint, it is just a programmed point that gets manipulated later on. I’m having an issue with TCP variance, and if I could boil everything down to just the tool flange positions, I think my problems would go away.

[pawel.blocki]

Hi,

I think this should help:
tool_flange_pose = pose_trans(waypoint, pose_inv(get_tcp_offset()))

You can also select “ignore active TCP” – in that case, the flange position should be reached.