# Formula(q1, q2,q3, q4) to (Yaw, Pitch, Roll)

**URL:** <https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121>\
**Category:** Robot Controller\
**Created:** [October 9, 2012, 9:31am UTC](https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121 "2012-10-09T09:31:47Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![wilsonzhou1217](https://avatars.discourse-cdn.com/v4/letter/w/ba8739/32.png) [@wilsonzhou1217](https://tech-community.robotics.abb.com/u/wilsonzhou1217)\
**Post date:** [October 9, 2012, 9:31am UTC](https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121/1 "2012-10-09T09:31:47Z")

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Hi,

I need to translate between the (q1, q2,q3, q4) and (Yaw, Pitch, Roll), could anyboday share the the formula of it.

As I learned ABB interal use the Excel with fromula.

Br,  
Wilson

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**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [October 9, 2012, 9:22pm UTC](https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121/2 "2012-10-09T21:22:29Z")

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Hi,

There are several on-line convertors - if you do a serach for “quaternion converter”.  
You need to check the results as the order of the Euler angle input on some is not the same as the 'ABB" way (you just need to swap the order you enter the angles to get it right).

Hope this helps  
Graeme

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**Author:** ![wilsonzhou1217](https://avatars.discourse-cdn.com/v4/letter/w/ba8739/32.png) [@wilsonzhou1217](https://tech-community.robotics.abb.com/u/wilsonzhou1217)\
**Post date:** [October 15, 2012, 4:40am UTC](https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121/3 "2012-10-15T04:40:06Z")

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Hi Graeme,

Thanks for your support.  
It is ok to find the convertor online. but it will be better if there is some VBA in Excel, we could utilise it whenever we want.

Br,  
Wilson

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**Author:** ![Nata\_lia](https://avatars.discourse-cdn.com/v4/letter/n/f19dbf/32.png) [@Nata\_lia](https://tech-community.robotics.abb.com/u/Nata_lia)\
**Post date:** [October 15, 2012, 9:51pm UTC](https://tech-community.robotics.abb.com/t/formula-q1-q2-q3-q4-to-yaw-pitch-roll/5121/4 "2012-10-15T21:51:34Z")

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Search for the software named TRAFO  
Or there is rapid function aswell  
OrientZYX  
Cheers