Where I can find some some formula for calculation of angles ?
Hello All
I need calculate the angle data for . mod prog from angles rotated around axis X Y Z .
There is four numbers whitch do not give me sense .
Is there some calculation conversion betwean angles and this four numbers ?
I need calculate the angle data for . mod prog from angles rotated around axis X Y Z .
There is four numbers whitch do not give me sense .
Is there some calculation conversion betwean angles and this four numbers ?
0
Answers
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Hello,Four numbers are quaternions. They are orient type value.You can convert them to Euler angle using EulerZYX function.Look at RAPID Instruction, Functions and Data types help file for examples.
☑️2024 - RobotStudio® User Group0 -
Ok, but I need convert this axis rotation not in IRC5 but in small application where will be nown only rotation around X or Y or Z . It will be spray application where are visible only trajectories and points with all data included the angels of tools axis . After modification of each point in application prog mod will be saved that means will be created PROG_*.mod and send to IRC5 .
I need some formula for calculation .0 -
Have you had a look at reltool - this adds a rotation relative to the tool (round the x, y, or z axis) to a robtarget in the motion command.0
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I've made a little program to convert Euler from/to Quaternions.Here the functions:It's written in VB.net.☑️2024 - RobotStudio® User Group0
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