What does the function of pose_trans return?

Technical Questions URScript
1

pose1 is [0,0,0,3.14,0,-1.57], pose2 is [10,20,0,0,0,0,78], what should be the result of pose_trans(pose1, pose2)?

2

Hi,

It will give resultant of both poses and values inside the brackets should be in Meters and Radians. pose2 [0.010,0.020,0,0,0, d2r(78)]

Below links may helpful:

  1. Universal Robots - URScript: Move with respect to a custom feature/frame (universal-robots.com)
  2. Simple vision system - 23871 (universal-robots.com)