02-16-2019, 01:14 PM

Hi everyone,

I want to work with a base target [abc: -90, 0 , 180]

Using this target I want to move the robot to this position but rotated, so the final movement is [abc: -43.033, -14.679, 164.814] using the rotx, roty and rotz function

So the difference between the base target and the desired target is [abc: 46.967, -14.679, 15.186]

if I set the rotation like this:

new_target = MoveJ(target * rotx(46.967 * pi / 180) * roty (-14.679 * pi / 180) * rotz (15.186 * pi / 180))

Instead of the desired target I get [abc: -90, 21, 135]

- What's the link between the rotation functions and this result???

- Is this the best way to achieve this?

Thanks for your attention

I want to work with a base target [abc: -90, 0 , 180]

Using this target I want to move the robot to this position but rotated, so the final movement is [abc: -43.033, -14.679, 164.814] using the rotx, roty and rotz function

So the difference between the base target and the desired target is [abc: 46.967, -14.679, 15.186]

if I set the rotation like this:

new_target = MoveJ(target * rotx(46.967 * pi / 180) * roty (-14.679 * pi / 180) * rotz (15.186 * pi / 180))

Instead of the desired target I get [abc: -90, 21, 135]

- What's the link between the rotation functions and this result???

- Is this the best way to achieve this?

Thanks for your attention