Hi guys,
I'm scratching my head for a while now so I thought that maybe some of you already solved my problem or can point me in the right direction. I'm trying to write a function aligns the robot tool with the world coordinate System upon calling it. The story behind this function is, that I teach the positions at which the robot does its work in handguiding mode but the tool should operate straight down and not at an angle to the world coordinate system. However it is impossible to get the alignment right in handguiding mode.
So I read up on Euler angles and tried several approaches but the orientation along the world coordinate System is discontinuous in every direction and any combination of turns never leads to a correctly aligned tool. And even if it works from one point, due to the nature of Euler angles from a differnent point this solution doesn't work anymore.
Has anyone ever tried to to get this kind of function to work and can point me in a the direction of a gerenal solution for this problem?
I'm using an iiwa 14 R820 with sunrise Version 1.11.0.7