Hi guys,
I have RSI more or less working. I can get $POS_ACT which is great, but there doesn't seem to be a way to get the position of the flange or null frame relative to world/robroot? I am trying to make my RSI independent of the selected tool or base to make my life easier. I mean I could maybe calculate it from the axis angles and DH parameters, but surely there's an easier way?
Thanks,
Z