Development of g-code to robotstudio rapid target with quaternion orientation format

James, Ezrasiefritz Jantin (2021) Development of g-code to robotstudio rapid target with quaternion orientation format. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Every robot manufacturer has developed their own proprietary language since there are no standardizations for G-Code. Furthermore, to execute a complex milling required a competency of the operator in reading the instructions command and controlling the levers as it consists of thousand lines of command code. Hence, by develop an effective application for IRB 120 to be able to conduct milling process by using of Quaternion Orientation Format as it encodes information about an axis-angle rotation about an arbitrary axis. Based on previous version, the translation angle of Z-axis coordinates was fixed. Thus, by apply the Quaternion Orientation Format shall replacing the fixed Euler Orientation. Result show that by stimulate the Rapid Target with Quaternion Orientation Format provides a convenient mathematical notation for representing spatial orientations and rotations of elements in three-dimensional space in ABB RobotStudio.

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