ROBOT tcp calibration

Hi to everyone, i am doing robot tcp calibration in 4 point method.
when i done calibration i got tool x,y,z data. But the direction of tool is wrong. X,Z moves in opposite direction. its look like tool rotates 180 degree in X direction. how can i change the tool rotation value. when i check tool data the tool frame rotation in q1, q2, q3, q4.(1,0,0,0)
how to change tcp rotation in X 180 degree??
help me out to fix this


  • innebandy
    In that case, change the quaternion value to [0,1,0,0] and jog the robot again.