In my application, I need to programmatically determine XYZABC for a series of TOOL orientations.
My TOOL XYZ is known and I also have a 3x3 rotation matrix which specifies how the TOOL frame is should be oriented relative to ROBROOT.
How do I solve for the ABC required to satisfy the rotation matrix, so that I can then send XYZABC to the robot to accomplish my rotation? Is there a KRL function to do this?