Universal Robots Forum

Get_actual_TCP_Pose frome a plane

Hi,

Ur10e with software 5.9. at an angle of 30 degrees.

Normaly we use the pose trans function but the cobot is at an angele of 30 degrees. So the base plane is also at 30 degrees.

Is it possible to get a function that picks ‘‘get_actual_tcp_pose()’’ from a plane our point?

I think there were some good examples here:

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