# Difference between get\_actual\_tcp\_po() and get\_forward\_kin() **URL:** \ **Category:** URScript\ **Created:** [March 15, 2024, 9:43am UTC](https://forum.universal-robots.com/t/difference-between-get-actual-tcp-po-and-get-forward-kin/33245 "2024-03-15T09:43:57Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![ZiHang.Chu](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/zihang.chu/32/3190_2.png) [@ZiHang.Chu](https://forum.universal-robots.com/u/ZiHang.Chu)\ **Post date:** [March 15, 2024, 9:43am UTC](https://forum.universal-robots.com/t/difference-between-get-actual-tcp-po-and-get-forward-kin/33245/1 "2024-03-15T09:43:57Z")
Hi, guys, when I was using the robot script, Can be found in information website ([Universal Robots - URScript: Move with respect to a custom feature/frame](https://www.universal-robots.com/articles/ur/programming/urscript-move-with-respect-to-a-custom-featureframe/)) Use get\_forward\_kin() to obtain the current pose of the robot, and find get\_actual\_tcp\_pos() in scriptManual.pdf([https://s3-eu-west-1.amazonaws.com/ur-support-site/53318/scriptManual.pdf](https://s3-eu-west-1.amazonaws.com/ur-support-site/53318/scriptManual.pdf)) to obtain the current pose of the robot. So if I want to use pose\_trans to make the robot move based on the toolset, which should I use? Can you also describe the difference between these two functions? Because I couldn’t find a description for get\_forward\_kin(). Thank you, everybody. ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [March 15, 2024, 2:54pm UTC](https://forum.universal-robots.com/t/difference-between-get-actual-tcp-po-and-get-forward-kin/33245/2 "2024-03-15T14:54:58Z")
Not totally clear what the difference really is, but I use get\_actual\_tcp\_pose() pretty often to shift around relative to the Tool.