Hello everybody,
I want to check the axis values of the target position of a move command before I actually trigger the move command (and run into a workspace error). The target position is given in cartesian coordinates (derived from an attached sensor), so I would need some function, variable or trick that let me access the internal cartesian<->axis transformation of the kuka software. Making the kinematic calculations by hand seems to be futile, as the internal kuka calculations are non-standard, so I might not arrive a the same solution.
Is there any easy way to get the corresponding axis configuration for a given cartesian position ?
I am using both a Kuka iiwa (with sunrise) and a Kuka LBR (with KRC).
Thanks,
Ralf