orient algebra

Robot Controller
1

How do I combine orients in Rapid?

I am wondering if code like this is working in Rapid…

(definitions)
orient orient_offset;
tooldata tOrig;
tooldata tRapProgram;

(code snippet)
tRapProgram := tOrig;
tRapProgram.tframe.rot := tRapProgram.tframe.rot * orient_offset;

Since rot and orient are both quaternions…

2

Hi

The syntax itself will work as you wrote, but I’m not sure if the result is what you want. In calculations like these I’ve used pose-functions like PoseMult. Your example might give the same results, but I haven’t tested it…

-Osku