Robot orientation in robotic cell

alex_tir

Hello! I'm working on a robotic application with an IRB120. Due to the limited space in the cell, the robot has been rotated by a few degrees and consequently also the wobj0 is rotated; this makes the manual movements of the robot very difficult. I would like to know if there was a way to rotate the position of the wobj0 or if there was something to do to have the robot reference system parallel to the cell (the x and y axes parallel to the edges of the cell and not rotated as they are now). The only thing I thought for the moment would be the definition of a new wobj defined as it would be comfortable for me.

soup

The base frame can be changed in RobotStudio at Configuration > Motion > Robot. Then jog in base rather than the world coordinate system.

soup

And here's a simple online quaternion calculator.