How to get joint frames?

sterlingm

Hi, I would like to view the positions of frames, tools, etc. relative to the joint frames for a robot. Currently, it seems my only options are viewing the position relative to the world CS, base CS, and a couple other frames, but not any frames that are located at a joint on the robot. Is there a way to see the frames for each joint of the robot, specifically the IRB 140?

I'm trying to utilize RobotStudio for a robotics class and currently we are going over forward kinematics. I would like to attach a tool, get the end-point of the tool relative to the robot's 6th joint, and have them transform that location down to the base frame. Then they can check their answer by viewing the position relative to the base frame. We hope that this will help students visualize what is happening better.

Is there any way to achieve this with the robot systems already provided in RobotStudio? A way to do it using only the UI would be best, but if RAPID provides a way to do this I can look into that as well. 

Thanks for any help.