not that I know of... you will need to make own function and if that is what you want, you will need to dive into math and KRL programming.

for example, teaching base with 3-points means that points are:

P1 - origin

P2 - point on X axis

P3 - point on XY plane (positive Y)

from each of the three points you only need translation components X,Y,Z, orientation A,B,C and Status and Turn do not matter...

to create new base you just need to assign frame data {X,Y,Z,A,B,C} to base of your choice.

XYZ components are easy - they are already in P1 (if P1 is expressed in WORLD)

however, determining ABC is a bit more work and requires knowing how the rotations are computed on kuka, then solving inverse of a rotation matrix.

and this will take some math skill...

order of rotations matter. in kuka, rotations are done in order A > B> C where

A is rotation about Z

B is rotation about Y

C is rotation about X

see

http://en.wikipedia.org/wiki/Euler_anglessuppose you start with WORLD coordinate system where unit vectors that form base are <i,j,k>

after transform through rotation matrix you get <i',j',k'>

we know that

i=(1,0,0)

j=(0,1,0)

k=(0,0,1)

you can compute i',j',k' from your points and the rotation matrix. (forgive me for any typos, i am still in party mode, got to love eggnog

)

for example i' is a unit vector in same direction as a vector P12 which is from P1 to P2.

in fact all we need to do is normalize P12 and that is our i'

to get k' we need to compute cross product P12xP13 and normalize it.

to get j' we just do a cross product of k' x i'

btw normalizing vector means dividing each of its component by vector length

For example:

P12=(P2.x-P1.x, P2.y-P1.y, P2.z-P1.z)

|P12| = sqrt( (P12.x)^2 + (P12.y)^2 + (P12.z)^2)

i'=(1/|P12|)*P12

P13=(P3.x-P1.x, P3.y-P1.y, P3.z-P1.z)

|P13| = sqrt( (P13.x)^2 + (P13.y)^2 + (P13.z)^2)

u'=(1/|P13|)*P13

k'= i' x u'

j' = k' x i'

now that the easy part is done (i', j', k' are columns of rotation matrix), you still need to determine values of angles A,B, C that result in that particular rotation matrix: