Basic Characteristics RAPID

Structure
Figure 3 The direction of the tool in accordance with example 2.
The axes will then be related as follows:
x’ = (cos30o , 0, -sin30o )
x’ = (0, 1, 0)
x’ = (sin30 o , 0, cos30 o )
Which corresponds to the following rotational matrix:
The rotational matrix provides a corresponding quaternion:
Related information
X
X´
cos 30°
+ 1 + cos30° + 1
q1 = ---------------------------------------------------------------- = 0,965926
2
q2
cos30° – 1 – cos30°
+ 1
= --------------------------------------------------------------- = 0
2
1 – cos30°
– cos30°
+ 1
q3 = --------------------------------------------------------------- = 0,258819
2
cos30° – cos30°
– 1 + 1
q4 = --------------------------------------------------------------- =
0
2
sign q3 = sign (sin30 o +sin30 o ) = +
Described in:
Operations on orientations Basic Characteristics - Expressions
7-orient-4 RAPID Reference Manual
Z
Z´
cos 30°
0 sin 30°
0 1 0
– sin 30°
0 cos 30°