ABB quaternion system

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whitfieldwelding
whitfieldwelding ✭
in Robot Controller
Hey Everyone,

 I'm a little new to using robots really not what I went to school for but I'm learning. Trying to do some minor automation. I have a found my tcp using the robot bc it's an odd shaped tool that we don't have cad data on. Now ABB  was so wonderful to use quaternion method of locating the tcp. I can do the conversion but I am just making sure that q1= is my real number, q2=i, q3=j, q4=k 

 I'm just trying to confirm this.

 Thanks


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