With the command calculateIKSAngles, I can obtain the A, B, C angles from a machine axis rotation. I need the opposite, I have a machine axis rotation, (for example the B joint has a value of 90 degrees) and I need to obtain the A, B, C values of the rotation.
Any idea on how can I calculate them?
calculateIKSAngles works in that way that you input a target vector togehter with the chain. The results are solutions for machine axis angles. Now your requirement is to put in the machine axis values to get the target vector.
I didn´t checked it but you can try the following approach ....
Start with a empty matrix and rotate it depending on the machine configuration around the tool/part rotary angle (do it in the right order!). The 3 line of the resulting matrix should return the target vector.
Hello, I understood the request differently.
Input values: from the rotary axis of the kinematics model
Desired Values: Rotary angles for the coordinate rotation e.g. Plane Spatial
This we can not deliver and I doubt it will be easy to do, as multiple way of rotation can lead to the same kinematic axis position. There is not a unique solution.
Thank You guys, I have asked the question erroneously, but you have understood what I want to mean.
The input data are the rotary axis values, and the target are A, B and C values.
I have tried the first idea with one rotation axis and I have obtained a solution, but I didn't check it with two rotations simultaneously.
As you said, there are multiple solutions.
I think I will try other approach to solve my simulation problem.
I have the 4th and 5th axis of the machine, in this case 0,1,0 and 0,0,1, the machine is a Table/Table and the order of axis rotation must be ZXZ. ¿How can I do it?
I don't recall seeing any example post or function delivered handling this (completely.) You will have to do the math (I think.) There are examples of doing some of this - sim example 15 (I think) does some frame transformations. The kin setting would be TT (as you have) and you would use mom_mcs_goto for path locations. You will need to look at the tool vector and use ATAN2 tcl function to get angles needed for the angles.