09-29-2022, 08:46 PM
(This post was last modified: 09-29-2022, 09:19 PM bypengpengzhang.Edit Reason: Add more information
)
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.
![[Image: 0?ui=2&ik=5dc0e56497&attid=0.1&permmsgid..._l8niho8g0]](https://mail.google.com/mail/u/0?ui=2&ik=5dc0e56497&attid=0.1&permmsgid=msg-a:r890924534472662065&th=1838af52ab485eef&view=fimg&fur=ip&sz=s0-l75-ft&attbid=ANGjdJ9y-kzBGaVcmfWsBBHoDQ91sX6XTS_HMfYwDL_tkUPKFmY-Po94exE_Lm3rJ5wTSr5nU5GwadI_lRk2Ge3kQV08p38gD6oR6LHuXfZFln0lIQtYST7sZhvVuio&disp=emb&realattid=ii_l8niho8g0)
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.