fkin()

Definition

fkin(pos, ref, ori_type)

Features

This function receives the input data of joint angles or equivalent forms (float[6]) in the joint space and returns the TCP (objects in the task space) based on the ref coordinate.

Parameters

Parameter Name	Data type	Default Value	Description
pos	posj	-	posj or position list
pos	list (float[6])	-	posj or position list
ref	int	DR_BASE	reference coordinate DR_BASE : base coordinate DR_WORLD : world coordinate
ori_type	int	DR_ELR_ZYZ	orientation type DR_ELR_ZYZ: Euler Angles(z-y'-z'', in degrees) DR_ELR_ZYX: Euler Angles(z-y'-x'', in degrees) DR_ELR_XYZ: Euler Angles(x-y'-z'', in degrees) DR_FIX_XYZ: Fixed Angles(x-y-z, in degrees) DR_ROTVEC: 3D rotation vector (angle/axis representation, in degrees) DR_QUAT: unit quaternion(x, y, z, w)

Return

Value	Description
posx	Task space point

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred
DR_Error (DR_ERROR_VALUE)	Parameter value is invalid
DR_Error (DR_ERROR_RUNTIME)	C extension module error occurred

Example

Python

q1 = posj(0, 0, 90, 0, 90, 0)

movej(q1,v=10,a=20)

q2 = posj(30, 0, 90, 0, 90, 0)

x2 = fkin(q2, DR_WORLD) # x2: Space coordinate at the edge of the robot (TCP) corresponding to joint value q2

movel(x2,v=100,a=200,ref=DR_WORLD) # Linear motion to x2


x1 = fkin(q1, DR_WORLD, DR_ELR_XYZ) # x1: Space coordinate at the edge of the robot (TCP) corresponding to joint value q2 (orientation type: euelr xyz)

movel(x1,v=100,a=200,ref=DR_WORLD) # Linear motion to x1