Caculate robtarget.

Simotion

I want to calculate a robtarget, with the property that the rotation of the tool is halfway between the rotations of the points before and after my newly calculated robtarget.
So I have a robtarget to start the movement, this robtarget is known, I have an endpoint of the movement, also a known robtarget, and finally I want to create a point between both, where the rotations are halfway between start and end, to create a fluent transition from start to end, and where the rotation of the tool is done over the whole distance between start and end.
Start- and endpoint have the usual notation with quaternions to define the rotoation of the tool.

Ekelund

Question: Are you trying to do this from the RobotStudio UI, an add-in or from RAPID?

Anyway, the nice thing with quaternions is how easy it is to interpolate orientations with them. Search for slerp or quaternion interpolation if you interested in more details.

For a RobotStudio add-in, look at the Quaternion class, and its Interpolate() method.

You will also have to do a linear interpolation (lerp) of the target positions. For add-ins, look at the LinearInterpolate() method on the Vector3 class.

/Anders