RobotStudio event

Quaternion and Euler problem

Hi I am currently doing the following.  I am saving a large amount of robot targets to a CSV file with the following information ID, X POS,Y POS, Z POS, X ANGLE, Y ANGLE, Z ANGLE.  I changed the quaternions to Euler angles because they are easier for the customer to change in the file without getting normalization errors with the robot.

Here is my problem and what I would like to do.  I would like to read the CSV file into a listview with the proper headings, and allow the customer the ability to change the file information be it changing a X angle, or X POS.  It would be really nice if I could fetch the change information from the actual robot position but the actual position uses quaternions, how can I change the quarternions to Euler angles?


  • Hi
    If you look at the orient struct you have a method ToEulerAngles I think that will help you.
    Per Svensson
    Company Specialist
    ABB Automation Technology Products