Hi all,
This may be a basic question, but I can't find the answer in the documentation
I have configured a tool and a base on my IIWA LBR 7. Now when I look at the Cartesian position, I see it in the coordinates of the tool (btw, is there a way to see the flange coord. as well?)
However, when I try to move the robot, it uses the flange's coordinates and not the tool's. I am using
Code
Frame startFrame = lbr.getCurrentCartesianPosition(lbr.getFlange());
startFrame.setZ(200);
startFrame.setX(0);
startFrame.setY(-600);
lbr.move(ptp(startFrame));
I was thinking maybe the problem is getFlange(), but I can't find a getTool() or something. Anyway, the question remains, if I want to move the robot to a certain pt using the tool's coords, how?
(And do I have to define a Frame for every position I want?)
Thanks