Hi All,
I am looking for infomation about quaternion. how does it works?
thank you in advance
what is quaternion?
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qtech -
August 17, 2013 at 11:02 PM -
Thread is marked as Resolved.
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the best informations are here :
http://en.wikipedia.org/wiki/Quaternion
http://run.usc.edu/cs520-s13/quat…nions-cs520.pdfI have wrote a software for convert quaternion to euler and euler to quaternion and I spent 5-6 days to understand quaternion. If you have any question after read this articles, I do best everything that I can't
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Thanks Eureka, WOW it is real science. Because I tried to define work objects again, they were taught unfortunately it's not me. Robot not move to new work place even though wobj is the same in the routine. I play with quaternion, it moves somewhere else. It describes simple in Operating manual how to define wobj but but not easy to do. I keep trying to see what the heck hidden in the program.
Thank you very much -
To "play" with quartenion, use EulerZYX and OrientZYX to fine adjust your workobject.
I use that example to adjust Rx. The point must to be set as far as possible from origin.
PROC rAjusRotacaoWobj()
!
! wobjDeposit
WHILE (1) DO
nAngleRX:=EulerZYX(\X,wobjDeposit.uframe.rot);
nAngleRY:=EulerZYX(\Y,wobjDeposit.uframe.rot);
nAngleRZ:=EulerZYX(\Z,wobjDeposit.uframe.rot);
TPErase;
TPWrite "Actual angle in Rx = "\Num:=nAngleRX;
TPReadNum reg1,"Value to sum in Rx?";
nAngleRX:=nAngleRX+reg1;
orient1:=OrientZYX(nAngleRZ,nAngleRY,nAngleRX);
wobjDeposit.uframe.rot:=orient1;
MoveL [[1319.91,1252.29,362.9],[0.008177,-0.679134,0.733966,0.001895],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v300,z1,tool0\WObj:=wobjDeposit;
ENDWHILE
ENDPROC