[bluerain007]

I am able to record the Joint angles in a text file. how do I record the TCP cartesian co-ordinates and poses of my TCP as they transition into a text file, from my program ?

[Jeremy]

Hi Bluerain,

What tool are you using right now to record the joint angles in a text file? The "motior_joints.py" macro?

If so, you can easily modify it to record the robot position by using this line of code "robot.Pose()" right around where you can find this line "robot.Joints()".

Jeremy

[bluerain007]

谢谢你的响应杰里米。我做了你sked, but how do I get the 4x4 matrix in terms of XYZ ABC?

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will this values XYZ abc include my tool as well from the program, you can see from the attached image

[Jeremy]

Hi Bluerain,

This function will do the conversion for you:
//m.sinclairbody.com/doc/en/PythonAPI/robo...ose_2_KUKA

There is no image attached.

Jeremy