orientation by Rapid

RobotStudio
1

Hello,

At this moment I am working on a project were I have to send every position to my Computer.

so now i use

VAR robtarget Target.

For i FROM 0 TO 1001 DO

Target.trans.y:=Target.trans.y-0.1;

MoveJ Target, v, z, tool;

Other than the xyz also the orientation has to be changed every run in the For-loop. because the robot has to move sort of circular. I know the algabra for the angles.But i dont konw how to use q1-q4.

anybody help?

greatings from Holland

2

Hello,

you can use OrientZYX to calculate the quaternions from angles.

Target.rot := OrientZYX(anglez, angley, anglex)

BR

Peter

3

Hello Peter,

Thanks, we tried but now we face an another problem. We are simulating a code with some Target 's but those targets are not the same as in real time.

anybody help?

4

What do you exactly mean by ‘those targets are not the same as in real time’?