I am trying to calculate a TCP using 4 points. I am using cartesian data. These four points are all defined using the same reference point.
I know how to calculate the centre of a sphere. I don't understand how to use this information to calculate a TCP.
Currently I align the first point in a Rx 180 Ry 0 Rz 0 orientation. This way I can just take the first point minus the centre of the sphere, this gives me the TCP. I would like the first position to be in a random orientation, just like the 3 other points.
How can I use the orientations of the 4 points to calculate a TCP using the centre of the sphere?