Quaternions for robotic teaching

[Joseph_Oster]

The first I heard of quaternions was from @Michael_Pryor:

Frames along curve but with the first and last frames set to a certain angle

Yes, with Pufferfish. Use the Tween Two Curves On Curve component. Mainly because it has Quaternion Rotation which you will need for this interpolation of planes. It uses Quaternions from Rhinocommon. [Capture] TweenTwoPlanesOnCurve.gh (6.8 KB)

Code examples using quaternion for rotation?

Pufferfish does have it but I did it the hard way - before I knew about the rhinocommon quaternions (I coded what a quaternion does behind the scenes ala a reference from Daniel Piker, not actually using rhinocommon quaternions). @Dani_Abalde has the cleanest code for the rotation I’ve seen using the Rhinocommon quaternions - we compared with Pufferfish vs his Plane interpolation in Peacock and results are the same. Maybe he will be nice enough to share with you

from here:

ABB robotic quaternion euler calculation

I just recently heard about “Quaternion Rotation” from @Michael_Pryor - sounds fascinating: More here:

Quaternion vs Euler Angles for UAV position control