Lets say I have a PR represented as a Cartesian position.
PR happens to be a calculated position in a user frame, with a utool of a position on a "parts tray" with some 250 locations.
So... depending on the row and column of the part I want to pick at that location... I calculate PR.
Now, I want to know what the Joint angles are of PR without moving to the position first. Specifically, what is the J1 angle.
Why... I have a fifth axis mounted camera on a LR Mate for cable management reasons.
Anybody know how to convert a Cartesian position to a Joint position without moving there.
1. This robot system is an LRMate 200iD V9.1 Handling Tool, R30iB Mate Plus.
2. Yes... I can buy the KAREL Package (irMath?) but I can't figure out what instructions I would program in KAREL or how I would call it from a TP program.
What would the Karel program or IrMath call look like? IrMath does have a call to go from Joint TO Cartesian, but not the other way around it seems.
3. Yes... It can be done using trigonometry, but this would be horribly complicated in my application.
4. Yes... this would be done online (in the robot).
What would the KAREL program look like? Assume UFRAME 5, Utool 3, PR