Teaching a Utool from PRs using 3 points methode

  • Hi all,

    I'm trying to figure out how to set a TCP using the three or four point methode with position from PR. I know how to record manually all of the approach points for setting up a utool but I'd love to be able to modify those point with either a .tpp or with a karel program. The end goal is to semi-automate the process of reaching those point and where the user would visually confirm that the TCP is valid. The user would correct the point if necessary and record it in a specific PR. Then I would trigger a karel or .tpp to modify that TCP based on those validated point.

    Is there a system variable where we can modify those approach point?
    If not, what method would you use to calculate a TCP from 3 PR that were teached with frame 0 (world frame) and utool 1 (flange of the robot)?

    Thanks for futures responses and merry Christmas :saint:

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