How can I get actual TCP position in different frame ?

Jose 2018-09-20

get_actual_tcp_pose() returns TCP position in base frame. How can I get actual TCP position of the robot in different frame ?

louis_bergeron 2018-09-21

@Jose

If I define a feature named Point_1, I can get the actual position of the TCP, expressed in the Point_1 frame with this formula:

position_in_frame_point1 := pose_trans(pose_inv(Point_1),get_actual_tcp_pose())

matthewd92 2018-09-21

@louis_bergeron why did you use pose_inv in the pose Trans for Point_1?

louis_bergeron 2018-09-21

@matthewd92

I hope my drawing will help. We are looking for TCP related to Point1 but we only have point_1 related to base and TCP related to base. By getting the Point_1 inverse, I got a way to start from Point_1 and finish at TCP which is the result I'm looking for.

Jose 2018-09-22

Thank you very much for great explanation. That answer is what I expected. Thanks.