Move tool center point of robot

asked 2021-09-07 06:17:23 -0600

EspenT gravatar image


OS: ubuntu 18.04 ROS version: Melodic

I have a UR16 that I control with the moveit_servo package. The problem I have, is that when I send velocity commands, the robot rotates around the UR16's tool center point.

What is the easiest way to sett a a tool center point a certain amount of mm in the UR's tools z-direction?

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Related: #q385951.

gvdhoorn gravatar image gvdhoorn  ( 2021-09-07 13:20:23 -0600 )edit