Moving the robot tool wrt to base by a translated value - Printable Version

Moving the robot tool wrt to base by a translated value- Printable Version

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Moving the robot tool wrt to base by a translated value-Nour-03-31-2023

Hi,

I'm trying to move the robot by a translated value of x,y,z with respect to the robot base in python . Can you please tell me which function does that ( linear not joints) .
Thanks

Nour

RE: Moving the robot tool wrt to base by a translated value-maexbecks-03-31-2023

(03-31-2023, 02:17 PM)Nour Wrote:Hi,

I'm trying to move the robot by a translated value of x,y,z with respect to the robot base in python . Can you please tell me which function does that ( linear not joints) .
Thanks

Nour

Hi Nour,
use the multiplication operator withtransl:

        Code:

        new_target = transl(x, y, z) * target.Pose()

or with respect to the TCP:

        Code:

        new_target = target.Pose() * transl(x, y, z)