Universal Robots Forum

How to calculate pose to tool direction?


I have a pose as a work point.
I use pose_trans() function to calculate approaching and exit point.
But how can I get that approaching point from tool direction?

Your question is not clear to me. Would you elaborate on what you are trying to accomplish?

Sorry misspelled my question. I used previously pose_add() function to calculate my approach and exit points.
But I already got answer to my problem.

I have teached waypoint (Waypoint_1) and made assignment to variable.
wpoint = Waypoint_1_p

I needed to calculate variable point for tool to approach ‘wpoint’ with tool z-axel move.
Solution was as simple as:
approach_point = pose_trans(wpoint, p[0,0,-0.05,0,0,0])

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