Hi there,
I'm working on a side project, and need to rotate a tool relative to the world coordinate system, not the tool's coordinate system. In T1, the GUI on the SmartPAD makes this easy, because in the tool selection category, you can select Cartesian motion relative to the world, or relative to the tool. In code, however, the rotation defaults to the tool's coordinates. I need to change this so that the rotations I perform around the tool tip are relative to the world coordinates. Please let me know if you have any ideas! I will post some pictures if that would help too. If a snippet of code helps to explain what is going on, I have posted some below:
This causes a rotation about the Y-axis relative to the tool tip orientation (I need a rotation about the Y-axis relative to world coordinates):
Frame b = robot.getCurrentCartesianPosition(tip.getDefaultMotionFrame());
double beta = Math.toDegrees(b.getBetaRad());
b.setBetaRad(Math.toRadians(beta + 10));
LIN motion = new LIN(b);
tip.moveAsync(motion.setJointVelocityRel(0.05));
-Alex