Position-orientation relation calculation in RAPID

    Hi everyone.

    I have a problem like following.

    I have P1 (modified in wobj1), P2 (modified in wobj2).

    Now I want to calculate a pose variable (ps12) that gives position-orientation relation between P1 and P2, so that when I change position of P1 (not change too much), I don't need to teach P2 anymore, just do some calculation:

    P2_temp:=P1*ps12 ---> position of P2 in wobj1

    P2:=CalcRobt(CalcJointT(P2_temp,tool0\wobj:=wobj1), tool0\wobj:=wobj2); ---> position of P2 in wobj2.

    Does anyone know how to calculate ps12?

    Please give me some advices, thank you.

    Rtfm, there is a small example in the manual. You don't need PoseVect, as you can use Posemult and Poseinv instead of it, but may be it can shorten the calculation. Just a short thought, haven't really precise thought about your problem, as it seems to be simple vector arithmetic.

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