Hi, I am working with KUKA LBR IIWA 7 R800 in Sunrise Workbench.

I am trying to calculate A,B,C values to give robot as an input to make robot flange pointing at a certain direction given in vector format(nx,ny,nz).

I simply thought that as A,B,C values given to KUKA is a Euler angle value, I calculated the rotation matrix

(0,0,1) -> (nx,ny,nz) : z-aixs, which is the pointing direction of the TOOL coordinate system to match the vector.

and extracted three Euler angles from that rotation matrix.

(refered to https://pdfs.semanticscholar.o…46e689eea1e334bcf6bf6.pdf)

However, this does not work since there can be so many x-axis and y-axis representation.

Do you have any other suggestion? Or is there a function given in Sunrise Workbench for this kind of purpose?

Robot flange to pointing the direction vector(x,y,z).