Align work object in Rapid using vertical plane?

Kevin
✭✭
in RobotStudio

I need a work object in a real robot cell at position p1 on the bottom left-hand corner of a plate, which is approximately vertical.
It is not convenient to have three points orthogonal to the plate for teaching the work object.
If I teach the points p1, p2 & p3 I can move Wobj1 to the position of p1 using 'Wobj1.uframe.trans:=p1.trans;' and I can calculate vectors from p1 for an imaginary work object plane orthogonal to the plate.
Is it possible to calculate Euler rotations or a quaternion from the vectors to correctly align Wobj1 with the plate geometry?
Thanks,
Kevin
0
Comments
-
How about DefFrame?
Henrik Berlin
ABB0 -
Thanks Henrik. That works fine.
Kevin
0
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