Hello,
var_axe = get_inverse_kin( var_pos, qnear=.. ) calculates axes position (var_axe) from pose variable (var_axe)
I need the reverse operation like :
var_pos = get_direct_kin( var_axe )
I don't find how to do. Does anybody know that?
Hello,
var_axe = get_inverse_kin( var_pos, qnear=.. ) calculates axes position (var_axe) from pose variable (var_axe)
I need the reverse operation like :
var_pos = get_direct_kin( var_axe )
I don't find how to do. Does anybody know that?
If I understand your question, you want to calculate the TCP pose based on a list of joint positions. Is that correct?
If so use get_forward_kin(). It has two optional parameters, the list of joint positions and the TCP pose that you want to use. If no joint list is given it uses the current joint positions, if no TCP is given it uses the currently active TCP.
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Hello
Thank you. It's exactly what I need. But...
I didn't found this function because I use Script 3.3 documentation and this function is not present in documentations before 3.6 version.
I did the test with simulator and 3.3 version : function is accepted but without parameters (Error "get_forward_kin takes exactly 0 arguments (2 given)").
So it just convert actual position. I don't see the différence with "get_actual_tcp_pose" function.
So I have a solution for versions >= 3.6 but but not for the older ones.
Do you know how to test which version is running?
You are correct, that function was changed in a later version.
Are you trying to get version number in URScript or through developing a URCap? If cap, there are methods for getting the version and the robot model, CB or e-series. I’d have to look for a script version function. Have never had a need for that since we manage all of our robot versions internally.
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My application use Dashboard commands. I use it for read the version.
Thank you for your help
You’re welcome. Glad it worked
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