Angles representation in Kawa robots

    Hi all

    I am new over here and entirely new to the field of robot programming. So, if you find my question to be so basic, kindly ignore and help.

    I would like to know about how the Angles are represented in Kawasaki robot programming. Like we use Quaternions for ABB, do we have any special system for Kawasaki robots.

    Thanks in advance..

    Kawasaki controllers use "Euler's O, A, T Angles". This is covered in the controller and AS programming manuals.

    Euler rotation angles are related to quaternions, but more practical (less abstract). I've never worked with quaternions and I wonder if they reduce the probability of singularities.

    Kawasaki is not a TCP dependent robot. It finds its location through Joint angles. ABB is TCP dependent so it finds it location simular to a Fanuc in its tool and frame data. If you teach a Kawasaki and use AS then you can use its tool coordinate using XYZ,OAT. The OAT is rotational value reminds me more similar to the Fanuc than the ABB. Unfortunately, although I understand the theory of Quaternions I dont have enough Math to truly understand and figure them. I think of Quaternions as messed up OATs. I could be a bit off, but that is my basic understanding.

    Despite the advanced math I took in engineering school, I find the subject of quaternions to be relatively unapproachable--particularly in an industrial setting. Euler angles are //somewhat// abstract, but only by a step or two. Quaternions, on the other hand, are pretty far out on the theoretical scale and that tends to make any technology difficult to implement in practice--especially when you have a system down and need to crank orders out the door RIGHT NOW.

    I'm truthfully not very qualified to comment on quaternions, but this discussion may be a practical illustration of Kawasaki's claim to have "friendly" robots. In a complex application, Euler angles can potentially give you whiplash as you wrap your mind around them in practice--despite their being very rudimentary in principle. I can't fathom using a more complex or abstracted relative coordinate system in a manufacturing setting where products can change and applications shift fairly regularly.

    Thanks to this thread, I now have a new appreciation for Kawasaki robots!!

    If anyone has studied Euler's OAT system in the Kawasaki manual and would like a native English explanation of it, just post a request and we'll see if we can do it justice.

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