Hi,
I am controlling KUKA KR5 Robot (KRC2) using RSI in WORLD Coordinate system. Please note that I am using default WORLD Coordinate system comes with KUKA KR5 in the following way in RSI-
I am able to control the KUKA in WORLD coordinate system by providing the ΔX, ΔY, ΔZ and ΔA, ΔB, ΔC. However, in this way all the calculations are done in WORLD coordinate system and the code is not robust.
I found out herehttps://www.robot-forum.com/robotforum/kuk…local-to-world/ that using the Homogeneous Transformation Matrix, the tool frame can be converted into WORLD coordinate system in the following manner-
|R11 R12 R13 X|
P' = |R21 R22 R23 Y| .P
|R31 R32 R33 Z|
| 0 0 0 1|
Where -
R = Rotation Matrix formed by ZYX order using Euler Angles Φ θ Ψ Or A B C
P = Point in tool coordinate
P' = Point in world coordinate
Below is my question-
Is it possible to control the orientation of tool using this equation? If yes, how? Since the vector P is 3x1 consisting of position of a point w.r.t. tool frame.