orientation by Rapid

BasT

Hello,

At this moment I am working on a project were I have to send every position to my Computer.

so now i use

VAR robtarget Target.

For i FROM 0 TO 1001 DO

Target.trans.y:=Target.trans.y-0.1;

MoveJ Target, v, z, tool;

Other than the xyz also the orientation has to be changed every run in the For-loop. because the robot has to move sort of circular. I know the algabra for the angles.But i dont konw how to use q1-q4.

 

anybody help?

 

greatings from Holland

kioog

Hello,

you can use OrientZYX to calculate the quaternions from angles.

Target.rot := OrientZYX(anglez, angley, anglex)

BR

Peter

BasT

Hello Peter,

 

Thanks, we tried but now we face an another problem. We are simulating a code with some Target 's but those targets are not the same as in real time.

 

anybody help?

blind3rr

What do you exactly mean by 'those targets are not the same as in real time'?