June 27, 2019, 08:39:14 AM

# Calculate Roll, Pitch, Yaw from a normal vector

### Author Topic:  Calculate Roll, Pitch, Yaw from a normal vector  (Read 2046 times)

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November 17, 2017, 12:50:40 PM

#### NguyenLam

##### Calculate Roll, Pitch, Yaw from a normal vector
Hello every one,
I am new to Robot, we have an Fanuc Robot ARC Mate 100ic.
I have a normal vector N= (0.963665164640684, 1.27688742042028E-09, 0.267113179117099). My questions is, how can I calculate the angle of Roll, Pitch, Yaw from this normal vector.
Appreciate any help and suggestion.
Thanks and Best regards,
Lam Nguyen

Today at 08:39:14 AM

Guest
##### Re:  Calculate Roll, Pitch, Yaw from a normal vector

December 06, 2017, 03:32:31 PM

#### robotero

##### Re: Calculate Roll, Pitch, Yaw from a normal vector
You can´t!

There is infinite solutions! You are only specifying the approach vector (z)
but the tool can rotate around it in infinite postures

You must define criteria to define another direction vector then compute the third one using the cross-product

Finally derive the WPR values from the components of these vectors

I have an initial position and an approach vector z,
how to compute the target position that uses the shortest wrist motion to orient the tool with the given approach vector .......

Let me think about it ........

Regards

December 11, 2017, 04:07:22 PM

#### NguyenLam

##### Re: Calculate Roll, Pitch, Yaw from a normal vector
Hello Robotero,
Thank you so much
Lam

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