Hello there devs, I’m developing a C# program that at some point generates an URScript path that is being sent to URSim/UR10e. The generated path is created as a set of points in global space with orientations w.r.t of origin (converted to meters and axis-angle). Robot moves correctly to each point…

I’ve solved the issue. Posting here in case it may help other devs I was creating the matrix used to generate the transformation in C# as EulerXYZ with: Matrix4.CreateRotationX(x)*Matrix4.CreateRotationY(y)*Matrix4.CreateRotationZ(z); Then I converted the matrix to AxisAngle to send it over 30002…

How to rotate w.r.t base frame?

Technical Questions URScript

v.roman November 8, 2019, 7:54am 5

Answered in TCP alignment with robot base axis !

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How to rotate w.r.t base frame?

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