Recording TCP cartesian Cordinates from ROBODK GUI- Printable Version +- RoboDK Forum (//m.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//m.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: RoboDK API (//m.sinclairbody.com/forum/Forum-RoboDK-API) +--- Thread: Recording TCP cartesian Cordinates from ROBODK GUI (/Thread-Recording-TCP-cartesian-Cordinates-from-ROBODK-GUI)

Recording TCP cartesian Cordinates from ROBODK GUI-bluerain007-03-01-2021 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 ? RE: Recording TCP cartesian Cordinates from ROBODK GUI-Jeremy-03-01-2021 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 RE: Recording TCP cartesian Cordinates from ROBODK GUI-bluerain007-03-02-2021 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? will this values XYZ abc include my tool as well from the program, you can see from the attached image RE: Recording TCP cartesian Cordinates from ROBODK GUI-Jeremy-03-02-2021 Hi Bluerain, This function will do the conversion for you: //m.sinclairbody.com/doc/en/PythonAPI/robodk.html#robodk.Pose_2_KUKA There is no image attached. Jeremy