}
}
Hi, sorry if this is a simple problem, but I just can't seem to find any articles or information that exactly matches what I'm looking for.
I am coding in Epson robotics language, but I can convert from c# or python, just need to get the formula. I can handle the rest.
I have a robot that uses a point file X,Y,Z,U,V,W this handles the cartesian coordinates "XYZ" then UVW are the rotation and the latitude and longitude.
I am trying to plot a sphere and have the robot keep the tooling perpendicular to the surface of this sphere.
float Radius = 30;
float Hx = 0;
float Hy = 0;
float Hz = 0;
float Hu = 0;
float Hv = 0;
float Hw = 0;
for(int Lat = 1;Lat <= 180;Lat +=1)
{
for(int Long = 0;Long <=360; Long += 1)
{
Hx = Radius * (Sin(DegToRad(Lat)) * Sin(DegToRad(Long)))
Hy = Radius * (Sin(DegToRad(Lat)) * Cos(DegToRad(Long)))
Hz = Radius * Cos(DegToRad(Lat))
Hu = ????????
Hv = ????????
Hw = ????????
Go OriginPoint +X(Hx) +Y(Hy) +Z(Hz) +V(Hv) +W(Hw)
}
}