Hi,
I read the geometric operator in kuka manual.
As far us I Understood.
1.Right side is the resultant.
POS:FRAME=FRAME
FRAME:POS=POS
2.The right side will be destination with respect to left side. P1:P2. Robot goes to P2 in relative to P1's co-ordinates and orientation.
3. (P1:P2)<>(P2:P1)
Can you please tell me.
1. Have I understood correctly. If not please correct me.
2.For an example, I am having some pos and FRAME called
POS ORGIN={X -1675.58,Y -1154.81,Z 1070.78,A 38.35,B 1.45,C 180.0}
POS TESTPOS={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}
FRAME TESTFRAME1={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}
FRAME TESTFRAME2={X 0.0, Y 500.0, Z 0.0, A 0.0, B 0.0, C 0.0}
Can you please tell me. What will happen?
LIN ORGIN:TESTPOS ;??????
LIN TESTPOS:ORGIN ;?????
LIN ORGIN:TESTFRAME1 ;??????
LIN TESTFRAME1:ORGIN ;?????
LIN TESTFRAME1:TESTFRAME2 ;????????????
LIN TESTFRAME2:TESTFRAME1 ;????????????
Thanks in advance