Quaternion diff operation "q1 == q2 +- tol"

Robot Controller
1

Hello.
Is there any way in RAPID to compare quaternions and get an absolute value that means something like :
“Angle in radians between q1 and q2”

I need to test if a the current position is equal a specific position in RAPID, testing both xyz and orientation. Basically I need to make the program test if the position and orientation is so close that it in real life does not matter if I ignore the position and orientation mismatch.

Best Regards
Jes

2

Hello
There is a RAPID function called: EulerZYX that allows you to get an angle in each direction: X, Y, Z. So you compare the 3 angles from the 2 positions.
Best regards
Marcel

3

Hi,

See this post http://forums.robotstudio.com/forum_posts.asp?TID=5246.
The RAPID code is comparing the current postion joint angles with a predifined postions joint angles.

Hope this helps
Regards
Graeme

4

Thank you, both of you, will test it when I get back to the task…