calcutate gravity alpha and beta

setobyl1

I am making a program for a robot that is placed tilted 15deg turned 45 deg around Z axis, and I find it a bit difficult to calculate the gravity alpha and beta (I guess I need to calculate both of them since robot is not tilted directly forward or sideways?
Can robotstudio calculate this somehow, by correcting to base frame or something, or are there any calculators where I can just enter euler angles?

matti

Hallo,

you may use FrameConverter for Android from Okida. It converts quaternion to euler and back.

setobyl1

Hi Matti! I already have a euler to quaternion converter, but gravity alpha and beta is not calculated in quaternions? There's only 1 value for each, not 4.

matti

Hallo, yes, it is in radians:

r = Pi*alpha/180. So turning angle 90° is PI/2 = 1.5057 and so on.

lemster68

Rotating upon the Z axis is irrelevant.  You only need to account for the tilt.