Change TCP of my tool at runtime

  • Hi to all. I have a question about my kuka lbr iiwa .

    I'm using Sunrise 1.13 and i want to change at runtime the TCP of the tool that i create in the template. Is it possible ?

    So this is what i'm doing :

    Thanks a lot. :thumbs_up:

  • Place your Ad here!
  • Share the solution.

    Thanks to Kuka.

    //gripper is the tool in template
    ObjectFrame tcp =  gripper.getFrame("TCP");
    //tcp is the new tool at runtime
    //  Transformation.ofTranslation(x, y, z)
    gripper.changeFramePosition(tcp, Transformation.ofTranslation(50, 0, 0));

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now

Advertising from our partners