# Transform xy point in joint position

**URL:** <https://forum.universal-robots.com/t/transform-xy-point-in-joint-position/24826>\
**Category:** Technical Questions\
**Created:** [November 4, 2022, 2:42pm UTC](https://forum.universal-robots.com/t/transform-xy-point-in-joint-position/24826 "2022-11-04T14:42:14Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Elettrotec\_AC14](https://avatars.discourse-cdn.com/v4/letter/e/74df32/32.png) [@Elettrotec\_AC14](https://forum.universal-robots.com/u/Elettrotec_AC14)\
**Post date:** [November 4, 2022, 2:42pm UTC](https://forum.universal-robots.com/t/transform-xy-point-in-joint-position/24826/1 "2022-11-04T14:42:15Z")

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Hi,  
Is possible transform a Point into joint coordinate?

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<div class="post-metadata">

**Author:** ![MikeM](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mikem/32/3114_2.png) [@MikeM](https://forum.universal-robots.com/u/MikeM)\
**Post date:** [November 4, 2022, 10:44pm UTC](https://forum.universal-robots.com/t/transform-xy-point-in-joint-position/24826/2 "2022-11-04T22:44:23Z")

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Try:

```auto
Linear_space:=p[x_meters , y_meters , … rz_radians]
Joint_space:=get_inverse_kin(Linear_space)
#get_inverse_kin() function returns pose with all six joints of robot

```