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I have a 6-axis robot that moves from P1(x1,y1,z1,q11,q12,q13,q14) to P2(x2,y2,z2,q21,q22,q23,q24) with tool offset T(x,y,z,q1,q2,q3,q4). I know the base coordinates and orientation of both positions. What I am trying to achieve is to find a way to calculate how much distance that robot travels in x,y,z direction and how much it rotates in q1,q2,q3,q4 in tool coordinates of the robot. How can I calculate it given positions and tool offset?

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    $\begingroup$ Welcome to Robotics, sesenlik. I'm not sure what you're asking for here; it sounds like you'd apply the tool offset to P1, apply the offset to P2, and then take the difference between the two. Are you looking for something else? Could you please explain more your use case and what you've tried? $\endgroup$
    – Chuck ♦
    Jan 3 at 16:25

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