11-24-2022, 09:20 AM
SolveFK and SolveIK functions require using poses of the robot flange with respect to the robot base. This means that they don't depend on the active tool and active reference frames (contrary to most other functions such as Pose, setPose, MoveJ, MoveL, MoveJ_Test, MoveL_Test, etc, which account for the active tool and reference frames).
Therefore, you should calculate the target pose based on your active tool and coordinate system as follows:
Therefore, you should calculate the target pose based on your active tool and coordinate system as follows:
Code:
jointVector0 = [-2.673, 11.398, 0.966, -276.009, -88.591, -167.432]
jointVector1 = [-1.381, 10.534, -14.661, -277.682, -86.983, 176.095]
target_pose = robot.PoseFrame().inv() * robot.SolveFK(jointVector1) * robot.PoseTool()
测试=机器人。MoveL_Test (j - 1 = jointVector0, pose=target_pose)
print(test)