Display MoreSo what Arm model are you using - ZX/BX ?
So what are your tool (TCP) values?
Yes, I hear you there, not a very easy concept to digest and as you can see it's not just straight forward commutative law with the values and can be very frustrating...........
The way I understood it was by reading the Transformational Value Operators and in simple terms, draw the XY grid as in the manual and plot your represented points in there and look at the examples.
This may help............
When you write:
Let me word it a little different.
The 2 positions have stored values which represent the TCP location (XYZ) and orientation (OAT) relative to a coordinate system (BASE/FRAME).
You are looking at the distance (XYZ) and orientation (OAT) between 2 positions, not BASE or anything else, so you are looking at comparing the 2 values, so you need to factor in one of these locations needs to be treated as your reference.
One location is your reference 'taughtpos1' and the other location is the current location 'foundpos'.
So you are looking at finding the offset (difference) which when added to 'taughtpos1' will be the same as 'foundpos'.
The above instruction uses HERE ('foundpos' values) and will inversely calculate how far it is away from 'taughtpos1' and define 'hdawear' with those values.
That difference when then added to the 'taughtpos1' location should be the same as the current position to a limited accuracy and decimal place.
Just wanted to say thanks for the help. Everything is working great now and i was able tp simplify alot of my code! I have a good grasp on Transformation Value Operators. So again thanks! Maybe next time i wont over complicate things 🤣