Hi,
I would like to swap the x and z directions of a existing torch tool, is there any simple method to calculate this?
Thanks!
-------------------
for example: tool a, swap x z direction
new result = a:{A 180, B -90, C 0}
?
Hi,
I would like to swap the x and z directions of a existing torch tool, is there any simple method to calculate this?
Thanks!
-------------------
for example: tool a, swap x z direction
new result = a:{A 180, B -90, C 0}
?
Can't say easy, but I use Matlab to calculate the rotation matrix from the Euler angles, and then rotate it the way I want.
I think my method is right
use { A180, B -90, C0 } to rotation the existing tool data.
I could use the orangeEdit to calc the result.
{ X 0.0, Y 0.0, Z 0.0, A 18.0, B -76.0, C 40.0} : {X 0.0, Y 0.0, Z 0.0, A 180.0, B -90.0, C 0.0} => {X 0.0, Y 0.0, Z 0.0, A -121.147159, B -10.67996, C -9.105078}
now further question: I wonder how could I write my own algorithm without use the ":" operator ? thanks!
it is a geometric transform which is most often expressed as a matrix multiplication. lookup Wiki article on Euler Angles. Kuka uses R=Rz(A)*Ry(B)*Rx(C)
which is right here. Since coefficients of resulting matrix are too large, they are written in condensed form where
c1 = COS(A)
c2 = COS(B)
c3 = COS(C)
s1 = SIN(A)
etc.
One thing:
Swapping X / Z will change the direction of Y. Because You always will have a right-handed system.
If You don't want to change the direction of Y the positive direction of X or Z must be changed.
For ArcTech you will NOT want to do this.....
the Weave function uses this standard orientation, Changing this messes up the weave....
also.... people who develop the standard feel for a space mouse and arc tech will also be mess up....
This is the only robot I know that uses +X to move the wire to work....