Fubini,
Great thanks for sharing the link. Currently, I am reading the entire post Meanwhile, let me explain you my objective in detail.
The motions which are w.r.t. WORLD frame are simple PTP motion written using teach pendent. There are two such initial motions. At this time Robot Position in Cartesian frame is A=0, B=0, C=180 (X,Y,Z i don't remember right now). Robot moves to some specified distance in minus Z direction (which is towards ground) without changing its orientation. After this, robot performs a specific motion, in which position is not changing only orientation is changing (A is still not changing, ONLY B and C are changing). As said earlier I have the equations of motion for B and C w.r.t WORLD frame. Once this is done robot goes to Home Position. Everything is okay till now.
Now I want to make some motions more general, which means -
[list type=decimal]
- instead of moving towards ground, I want KUKA to follow an arbitrary aligned line in 3D
- Then the motion which was earlier provided to B and C, should now be provided w.r.t TOOL frame
[/list]
Does it make sense?