I’m trying to make my tool point to a certain direction given by the orientation of a vector. But I’m quite stuck in the math about the rotation.
A general question will be:
Suppose I have an point A=[0,0,0] and an point B=[10,4,0], thus the vector AB = [-10,-4,0],
How to come out with the pose’s rotation that align my Z axis with this vector AB?
Can anybody help me, pleaseeee!
Pose rotation is given by rotation vector [rx, ry, rz].
They can be obtained by calculating rotation matrix.
I studied from here and read “Rotation vector”(page 17) of “Robotics in UR Robots_March 2019.pdf”.