I´m working on a project that requires an update for all the existing frames due to a physical rotation and translation of the robot. Originally, the robot was placed rotated -90° about the Y axis. Now it is placed on a different surface, with no rotation about Y and a translation of about 600mm in Z- (towards ground). All the existing frames were taught using the original robot and I´d like to reuse the frames using the new robot placement.
My question is: is there a tool or a method to transform all the frames considering the new Robot placement? My guess is that I need the kinematics of the robot, but I don´t think this is an easy task.