fkin(pos, ref) | V2-manual

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

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

Related commands

set_tcp()
- 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)