hi everyone ,
i want to attach a pen to a gripper which it attached to the flange as i read there is two ways:
- one of them by using the orgin fram for attachment like : pen.attachTo(gripper.getframe(tcp1));
my Question here what tcp1 means , is it the orginal tcp of the gripper and if it is how we calculate it ?or its the tcp of the flange.
second question how can i calculate the tcp of the pen after i attach it ? ::
_ last Q if i dont have a gripper can i attach the pen diresctly to the flange ?
thaks in advance .
Tony