Hello All,
I am endeavouring to integrate a NDT sensor with my LBR and would like to get positional information of the robot tool tip using the FRI interface.. I am troubled by the understanding of the FRI libraries and a little puzzled to why there isn't an equivalent to :
lbr.getCurrentCartesianPosition(gripper.getFrame("ToolDef"));
There appears to be a getMeasuredJointPosition() which is great, but I'm not sure if I'm up to the kinematics required to calculate the actual position of my tool tip.
Can anyone enlighten me please?