[Hamid]

Hi,

RL.Solve_IK(T) in Matlab does not consider the tool frame and returns the answer for robot flange.
There are also multiple problems with Matlab. Solve_IK_All( ) doesn't work properly. Get_Htool() doesn't work. ...

Hamid

[RoboDK]

You should use robot.Htool() to get the tool frame and do your own post multiplication.

Example using Python:

Code:

RDK = Robolink()
    robot = RDK.ItemUserPick('Select a robot', ITEM_TYPE_ROBOT)
    Htool = robot.Htool()           # retrieve the tool frame with respect to the robot flange

    # Calculate the tool frame with respect to the reference frame:
    target = Hreference*robot.SolveFK(joints)*Htool