Control movement with IMU

Caius

Hi I am working on a project that tries to make possible gesture control by using a IMU unit. The idea was to get the quaternions from the sensor and use them to move the robot (IRB 1600). The problem is that I'm not sure how to use them, the only idea I could come up with was to replace the quaternions in a robtarget declaration and send the robot there (this is in a loop which reads sets of quaternions). The problem is that I keep getting unreachable point. I thought it might be from the robot configuration values, but I've used ConfJ \Off and even SingArea \Wrist to make sure that isn't a problem. I'm not sure though about the first pair of value for translation, whether those influence my movement or not. If so, how could I avoid this. p2:=[[1092.31,0,1130.01],[q{1},q{2},q{3},q{4}],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; ConfJ \Off; SingArea \Wrist; MoveJ p2,v200,z50,tool0; WaitRob \InPos; Also, my sensor starts by reading values close to [1,0,0,0] which seems to orient the tool upwards. Is that because of the coordinate system the robot is using ? Sorry if I'm not seeing the obvious or asking rookie questions, still a student. Thanks

svoldgaard

I think that the Idea you have sounds fine. The point you posted might be out of range or at least  close to for a 1600. Try to use a point closer to the robot. And the orientation if upwards due to the tool and coordination you use:-)

Caius

I managed to make it work by converting the quaternions received into Euler Angles, adding +90 degrees to the z axis and then making them quaternions again before using them. Although not a very elegant solution, it sort of works...