Hello robot experts,
I hope someone will be able to explain me in general, how set of coordinates that describe a path in the space can be converted into coordinates to a specific industrial robot language.
For example, KUKA KRC4, robot, I have seen YT videos in which Werner explains what is TCP, how to calibrate TCP, what is Home and World coordinate frame and so on.
But for example, there is some other software tool that enables path planning, and at the output we can get a set of spatial coordinates as well as a reference coordinate frame with respect to which, the coordinates are calculated.
Now, imagine I need to program real world robot to move on this path. Since, base and TCP frames should be calibrated, this means there will be a transformation matrix that will changed all the spatial coordinates that were produced by path planning software.
So, is this done in KUKA robot (or in general industrial robot) automatically, or a programmer need to have TCP and and base coordinate frames, and then make transformation in the path planning software to obtain new coordinates before entering movement commands in the robot programming language?
I hope you understand my question. During classes of theory, and in many robotics books (academic books) there are chapters about path planning that can be used to learn about algorithms. Once these algorithms are applied and coordinates produced, what to do next, how to enter this data to a real world robot?
As an example, I have attached a picture of output of a path planning SW with coordinates and referent frame.