Rotating About An Axis While Keeping the TCP In Place?

ritchiepham

A user is able to rotate the robot head around a specific axis while maintaining the tcp in a single location when pressing one of the indicated buttons. My question is how would we program this type of movement where a rotation about an axis is performed while maintaining the tcp at a single location?

matthewd92

You have to calculate the waypoints using the pose_trans function. Take the current tool position and add in the rotation around the axis that you want to use