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FANUC frame operations
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FANUC frame operations is set of routines that enables you to ADD and INVERT frames from within TP programming language. Provided are two accessor functions that interface with KAREL compiled code that does the calculation. To use in your project, copy *.pc and *.tp files to your robot controller. ADD_FRAMES() - will add together 2 position registers. Equivalent to geometric operator ":" (KUKA) and PoseMult() (ABB). INVERT_FRAME() - calculates matrix inversion of input frame. Equivalent to function INV_POS() (KUKA) and PoseInv() (ABB).
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