Hi all,
How compute TCP from 4 different point:
Measured P1{ X -1212.375 ,Y 3785.411, Z 1180.433, A -0.93, B 47.263, C -92.214}
Measured P2{ X -1150.558 ,Y 3911.037, Z 1180.013, A 48.827, B 47.309, C -92.209}
Measured P3{ X-1464.654 , Y 3785.021, Z 1163.455, A 28.075, B -2.869, C -106.945}
Measured P4{ X -1283.76 , Y 3676.609, Z 1132.282, A -26.651, B 20.973, C -71.511}
I know how compute center of sphere, But I get :
{X-1316,739144363, Y 3913,6685403798,Z 845,4296028114 }, this is reference point of measure, but I need compute relative to the Flange system
KUKA compute:
{X 175.143,Y 301.955, Z 139.15}
How get these result mathematically?
Robot: KUKA KR210