I am using an arm controlled by a YRC1000 with a Servo Robot iCube as a seam finding camera.
The issue I have is that I want to define my weld paths in terms of the Tool Frame, but the seam finding camera only gives feedback in the Base Frame coordinate system.
How can I convert a point between the two. I have tried using the CNVRT function, but this doesn't seem to apply the correct rotations to hit the right position.
In an ideal world I would do something like this:
Get feedback in P001 via an inspect command
CNVRT P001 P001 TF
ADD P001 P000 (P000 is the offset between the camera and the tool in the Tool Frame)
SFTON P001
Then do my other moves