# How can I obtain the position of a point in the TCP coordinate system？ **URL:** \ **Category:** General Application Help: How do I?\ **Created:** [January 16, 2024, 2:36pm UTC](https://forum.universal-robots.com/t/how-can-i-obtain-the-position-of-a-point-in-the-tcp-coordinate-system/32155 "2024-01-16T14:36:27Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![1326730049](https://avatars.discourse-cdn.com/v4/letter/1/a9a28c/32.png) [@1326730049](https://forum.universal-robots.com/u/1326730049)\ **Post date:** [January 16, 2024, 2:36pm UTC](https://forum.universal-robots.com/t/how-can-i-obtain-the-position-of-a-point-in-the-tcp-coordinate-system/32155/1 "2024-01-16T14:36:27Z")
If the coordinates of a point in the base coordinate system are known, how can we obtain the coordinates of that point in the TCP coordinate system？Which script can achieve this requirement？If you could help me, I would be extremely grateful. ---
**Author:** ![1326730049](https://avatars.discourse-cdn.com/v4/letter/1/a9a28c/32.png) [@1326730049](https://forum.universal-robots.com/u/1326730049)\ **Post date:** [January 16, 2024, 2:42pm UTC](https://forum.universal-robots.com/t/how-can-i-obtain-the-position-of-a-point-in-the-tcp-coordinate-system/32155/2 "2024-01-16T14:42:29Z")
At present, I use get\_actual\_tcp\_pose() script to obtain the pose of TCP, then transform it to obtain the transformation matrix T of the TCP coordinate system and the base coordinate system. and finally use the transformation matrix T to obtain the coordinates of points in TCP coordinate system. However, this method seems to be incorrect. ---
**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\ **Post date:** [January 17, 2024, 6:23am UTC](https://forum.universal-robots.com/t/how-can-i-obtain-the-position-of-a-point-in-the-tcp-coordinate-system/32155/3 "2024-01-17T06:23:53Z")
If you get the inverse of the pose first it should work. 🙂 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/a7ea7b9d1749d40439befa13030e20bdbd78e16b.png)