Fubini, Mom, and Panic Mode,
Thank you all for the insightful knowledge. This approach is new for me and you all have given me a new way to look at how I can take advantage of the kuka programming environment. I will be spending time moving forward learning how to use these methods and understand the complexity behind them.
I will start with the transformation matrices and how that's implemented in the kuka IDE. Thank you for the explanation between T01, T12, and T02; that makes a lot more sense now.
Down the rabbit hole!