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The math behind TCP definition
#1
Hi RoboDK team,

May I know the math behind this tool definition? Which method is used to calculate the TCP in RoboDK?

I find a math method to use 4 pose to do a calculation to find a sphere in a 3D space. If it is the method used by RoboDK software to find the TCP.

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#2
I do believe it's the method used.

但我们不能共享实现细节obvious reasons.
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