Robot Movement Using TCP Coordinates and Reference Frames

[PKSXR]

How can I move the robot using TCP coordinates? What role do the reference frames play in this process? Additionally, do you have an estimated release date for the motion planner and trajectory generation features, as they are still in development?

[CamiloMGS]

Hello! 👋

I'm not directly involved in the project, but a while ago, I worked on something similar. I developed Motion Programming to move a robot using motion types like MoveC, MoveL, etc.

I opened an issue to see if I could contribute by implementing these features:
🔗 Here it is: #17

I'm currently waiting for a response from the project creator to check if they are already working on something similar.

As for your question, you can create a script to move the TCP from one point to another, and the IK algorithm will handle the robot's movement.

Hope this helps! 🚀

[PKSXR]

Hi Camilo! Thanks for your response. The motion planner i saw in the video you posted is impressive. I'm greatly interested in the MoveL, MoveJ functionalities you displayed. I would like to know where i can find a package to make something similar? I'm able to move the TCP to x,y,z,a,b,c poses but can't figure out how to animate the movements in between.