Tool teaching with elongators X,Z How to reverse the Z direction on TP

rjackson

I have made a tool1759 the TCP is nice but the Z is backwards to what I'd like.  Is there a software like QuaternionWiz that will recalculate the Z 180 different?

Q1  0.723129
Q2  -0.00128365
Q3  -0.00107694
Q4  -0.690711

Thanks,  RobJ

lemster68

Check this out:
https://robotapps.robotstudio.com/#/viewApp/46fca464-e0cd-4899-8df3-0f36977e536a
  Or you can play with the signs, swap some numbers around, I can't tell you which, just trial and error.

j_proulx

I have an exe that graphically shows Quaternion. Can modify angles to achieve your quaternions. I name it Quaternion Visualizer.
https://www.dropbox.com/s/tvryrofms5n1l74/WINXYZ.EXE?dl=0