rotate X and Z 30 degrees counterclockwise

amardebbari

hello 

i want to rotate coordinate system of tool 30 degrees clockwise i know that we must calculate q1 and q2,q3,q4 using matrix method  
when i did rotate 90 degrees it work good because i think cosinus(90)=0 and cosinus(0)=1 . but when i use angles like 30 or 45 it doesn't work for me any one can help and explain for me good and practice method   ? 
 Regads    

graemepaulin

Hi

There is a Quaternion convertor available for download from the RobotStudio web site:

http://www.abb.com/product/ap/seitp327/5dd4fbc7afcb82d2c12579ad0054401d.aspx

Regards

Graeme

amardebbari

Thanks Mr Graeme for your helping 
i'll try it 
Best Regards 
Amar

blind3rr

        tool.tframe := PoseMult(tool.tframe,[[0,0,0],OrientZYX(-30,0,-30)]);

BR,
blind3rr