fkin(pos, ref)
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 |
list (float[6]) | |||
ref | int | DR_BASE | reference coordinate
|
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
PY
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 x2Related commands
- set_tcp(name)
- The tcp information of the name registered in the teach pendant is reflected during fkin operation.
- posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)
- posx(X=0, Y=0, Z=0, A=0, B=0, C=0)