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Kuka Axis-Angle to Pose
#1
Hi,

I would like to use online programming for moving a robot from one point to another. Let's say I have N points in the array where every point is coded as a 6-axis-angle ($AXIS_ACT Kuka system variable). Is there any way to directly convert this angles to the robot pose matrix (as robot.Pose())?

Thank you in advance!
#2
Yes, this is possible. You can use SolveFK to calculate the forward kinematics (robot pose given robot joints) and SolveIK to calculate inverse kinematics (robot joints given the robot pose.

Example:
Code:
robot_joints = [...] # robot axis such as AXIS_ACT
# Calculate the robot flange with respect to the robot base
flange_pose = robot.SolveFK(robot_joints)
# Calculate the pose of the active tool with respect to the active reference frame
target_pose = robot.SolveFK(robot_joints, robot.PoseTool(), robot.PoseFrame())

# Convert the pose to KUKA XYZABC format (6D array/list):
kuka_xyzabc = Pose_2_KUKA(target_pose)
  




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