If I have a position represented in the tool coordinate frame, what is the formula for converting it to the world coordinate frame. Positions are represented as Adept x, y, z, yaw, pitch, roll. Note, Adept uses Z-Y-Z Euler rotation. In the end I want the raw calculations behind the following Adept V+ code:
SET loc_in_tool = loc_in_world:INVERSE(tool_offset)
loc_in_world is the original position in world coordinates
loc_in_tool is the converted position in tool coordinates
tool_offset is the tool offset from the mounting flange
Any help you can provide is appreciated.