[Jeremy]

Hi Kc144,

I don't have a straight forward answer for you, but I don't see that being that hard.


First you need to figure out where is the center of that "workspace".The working envelop of a robot is all around it, so to center the work envelop with the position you have, you would need to match the base of the robot with the position, which is obviously not what you are trying to explain.

I feel like what you mean is "in front of the robot, mid-height, mid-range".
You can simply manually move the robot to that position and look at the position. Let's call that "WorkCenter".

Then you will have something like this (it's pseudo code, do not simply copy and paste to your code, it won't work):

Code:

CartPosition = Target * inv(WorkCenter)

This would work if FrameA and CartBase are at the same position, you may need to account for it if it's not the case.
Let me know what you think.

Jeremy