Hello for All,
I want to understand how I can change configuration of robot.
For example I have a point:
X -254.195,Y 786.519,Z 604.927,A -48,B 76,C -137
There is the same tool's orientation but another configuration of the robot:
X -254.195,Y 786.519,Z 604.927,A 132,B 104,C 43
As I understand there are 8 variants of robot configuration (000, 001, ..., 111).
Where can I find formulas for conversion Euler angles from one configuration to another?
For my example I can do that way:
A = 180 + A
B = 180 - B
C = 180 +C
But it is only one variant of conversion and I don't understand why there are '+' or '-'.
The question is because of my program generates points for robot and I want to move lineary from one point to another without changing configuration. But now my program generates points like these:
...
LIN {X 0,Y 786.519,Z 624.933,A -90,B 80,C -180}
LIN {X 28.359,Y 786.519,Z 624.685,A -95.6526,B 79.9506,C 174.26}
...
And I want to find universal algorithm for saving configuration of robot at points.
Thank You for help!