XYZ+IJK (post processor file) to XYZ+Quarter (ABB ROBOT TARGET)

[David Forman]

Hello
Does anybody help me with Abb robot?
I have general post processor file for 5 axis where data like : XYZ ,
IJK
where XYZ absolute target point and IJK tool`s vector

Need to convert it to ABB(IRB6400) robtarget XYZ, q1 q2 q3 q4
where q1-q4 quarter

How to convert it with robot toolbox ?

Thank you...

[Peter]

There is nothing in the robot toolbox to do this directly. There is
certainly good support for quaternions.

peter

[David Forman]

 

 

Hello

 Yes i understand that it`s not possible to do convertor directly. but, is there something to convert I J K vector to R P Y and R P Y to Quarter ?

 

Regards, Roman

 

2010/11/12 Peter <peter....@gmail.com>

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[Peter Corke]

Can you  explain what IJK vector format is?

Sent from my iPad

[David Forman]

Hello Peter,

 

 Most CAD/CAM software generate multi axis APT-CL file with XYZ points and IJK tool vector. Please check DOC file for example.

 

Regards, Roman

2010/11/12 Peter Corke <peter....@gmail.com>

[Peter Corke]

David,

I know it's a CAD/CAM thing, but that's not my field.   There was no DOC file :(

[David Forman]

Sending DOC file again...

 

Thank you.

 

 

2010/11/23 Peter Corke <peter....@gmail.com>

[Peter Corke]

Maybe things are different in CAD/CAM world but as a roboticist I'd say the tool pose is underconstrained.  IJK specifies just one axis in the tool coordinate frame, rotation about that frame is not given.

So XYZ + IJK + some orientation is required in order to create a tool pose expressed as either a homogeneous transformation or a quaternion.

peter.

<When creating a toolpath CAD.doc>