This may be a very basic question, however I am having great difficulty to find the right answer.
I have a functioning python code for the inverse kinematics of a 6 axis UR Robot. For any transformation matrix in space I get the corresponding joint values. However: I do not know how I can add the TCP transformation to the calculation. I have a tool attached to the robot and the IK solution should of course account for that. How do I do this? can I simply transform the coordinates before I send them to the inverse kinematics function or does this need to happen inside of the IK function? This feels like it is super easy but I am drawing a blank for the last few days.
So far I have taken the dot product of the coordinates I want to approach and the TCP transformation. However this only works without any rotation as soon as rotation is added this doesn't work anymore what am I missing? My googling skills have failed me so far.