Posts by SONG

Hi, thank you for the reply.

Do you have any idea which rotation order KUKA is sticking into?

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.org/6681/37fa4b875…e334bcf6bf6.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).