RoboDK Forum > RoboDK (EN) > RoboDK API > Recording TCP cartesian Cordinates from ROBODK GUI
RoboDK Forum > RoboDK (EN) > RoboDK API > Recording TCP cartesian Cordinates from ROBODK GUI

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Recording TCP cartesian Cordinates from ROBODK GUI

bluerain007 Offline
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#1
03-01-2021, 04:18 PM
    I am able to record the Joint angles in a text file. how do I record the TCP cartesian co-ordinates and poses of my TCP as they transition into a text file, from my program ?
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Jeremy Offline
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#2
03-01-2021, 06:54 PM
Hi Bluerain,

What tool are you using right now to record the joint angles in a text file? The "motior_joints.py" macro?

If so, you can easily modify it to record the robot position by using this line of code "robot.Pose()" right around where you can find this line "robot.Joints()".

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel. 


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bluerain007 Offline
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#3
03-02-2021, 11:52 AM (This post was last modified: 03-02-2021, 11:53 AM by bluerain007.)
Thank you for your response Jeremy. I did as you asked, but how do I get the 4x4 matrix in terms of XYZ ABC?
will this values XYZ abc include my tool as well from the program, you can see from the attached image
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Jeremy Offline
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#4
03-02-2021, 09:11 PM
Hi Bluerain,

This function will do the conversion for you:
https://robodk.com/doc/en/PythonAPI/robo...ose_2_KUKA

There is no image attached.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel. 


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