### Author Topic: Calculate Roll, Pitch, Yaw from a normal vector  (Read 202 times)

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#### NguyenLam

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##### Calculate Roll, Pitch, Yaw from a normal vector
« on: November 17, 2017, 12:50:40 PM »
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

#### robotero

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##### Re: Calculate Roll, Pitch, Yaw from a normal vector
« Reply #1 on: December 06, 2017, 03:32:31 PM »
You canĀ“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

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