Hi, I’m using a six-axis robotic arm, and the coordinates of Wrist3 are
(x,y,z,rx,ry,rz), and the offset from the end of Wrist3 to the tool tip (TCP) is given as (x,y,z,rz)
It is fixed at (0,0,220 mm).
This means that the world coordinates of TCP are near (x,y,z+0.22) (or more accurately R⋅[0,0,0.22] offset when considering the rotation matrix).
What I want is to parallelize the position of Wrist3 to (x′, y′, z′), but never change the absolute position (x tip, y tip, z tip) of the tool tip (TCP).
Of course, the orientation (rx ', ry ', rz ') has to be different for this,
How can we calculate (rx ‘, ry ‘, rz ‘) correctly, so the robot actually says, “Wrist3 only.”
Is it possible to keep the “TCP is the same coordinate as before” while moving to (x’,y’,z’)?
TCP offset (0,0,220 mm) is a condition that never changes.
It would be very helpful to have a rotation axis geometry, an Axis-Angle representation, or an example of a mathematical approach or a Python code.
If anyone has done a similar implementation or knows any related algorithms (minimum rotation, RPY changes, IK etc), please reply. Thank you!
The same can be done with rx or rz.