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I have a question about quaternion

wooa3
wooa3 ✭
in RobotStudio S4

Hello,

I need the formula to convert quaternions to RPY angles.

I have convert add-in, but I have to know the formula.

I read the RAPID manual and found the formula to convert

rotational matrix to quaternions.

Sungwoo Jung

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  • John Wiberg
    John Wiberg ✭✭✭

    Hello Sungwoo,

    I don't have the formula myself and the guy who did the converter is not in ABB anymore but RPY angles are called "euler" so if you do an internet search on
    "quaternions to euler"
    then you'll find a lot of links looking into the problem.
    http://www.google.se/search?hl=sv&q=%22quaternions+to+euler%22&btnG=S%C3%B6k&meta=

    In RAPID to convert to and back you use these two functions which you will find described in the RAPID manual:
    OrientZYX
    EulerZYX

    If you are using the VBA in RS then you can add a reference to "ABB RobotStudio Math Utility 1.0" in which you will find both conversions and a lot more about playing around with matrixes.

    I hope that this will help you.

    image

    Best regards

    John Wiberg

    John
    Developer Center

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