Hi,

I am the developer of the robotic plugin for Rhinoceros 3D: RhinoRobot

I have been making post processors for major brands for 10 years, including ABB, Comau, Kuka, Kawasaki, Staubli, Fanuc, UR, Motoman, etc. , each one with its own syntax and Euler angles convention.

Today I am facing an issue on the mathematical logic behind Fanuc's RTCP:

For almost every other brands remote TCP works in the same way as a normal TCP, the points coordinates and rotations being expressed regarding to a robot mounted frame (usually the A6 flange's frame, but could be another one on the tool itself), along with a specific syntax but with the same mathematical calculations and Euler convention used for a normal TCP of that brand.

For Fanuc RTCP that logic is not working and the resulting trajectory is very weird.

I have tested all the combinations of transformations and Euler conventions I can think of without good results.

I am in contact with Fanuc France but even them don't understand the logic used behind their own RTCP mathematical logic, and they don't want to give me the contact of a Japan colleague who could help.

If anybody here could give me a lead on the Fanuc RTCP mathematical logic, or have the contact of a Fanuc mathematician in Japan or anywhere else, it would be greatly appreciated !

Thanks !