Calculate Pose Value of the frame

Lin ✭

February 2013 in Developer Tools

Hi Guys,

How to calculate the pose values from the joint targets using RS-SDK?

The RAPID way is

pose pose1 := CalcRobT(jointtarget1, tool1 WObj:=wobj0);

Thank you.

Lingaa

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Comments

• 

  Lin ✭

  February 2013

  sorry it is not pose it is robtarget

  robtarget tgt1 := CalcRobT(jointtarget1, tool1 WObj:=wobj0);

  Lingaa

  0
• 

  DanLars ✭

  February 2013

  Hi

  
  

  You can get the axis values from the joint taget using GetJointVal and then pass it into the

  
  

  ForwardKinematics method, which returns a 4x4 matrix, which you can set on a robtarget.

  
  

  Hope it helps,

  
  

  Regards Lars

  Lars Glud
  Danrob A/S

  0