ID : 5532

NormalVector

Function

Return a vector which is vertical to a plane where three points belong (normal vector).

Syntax

NormalVector(position1, position2, position3)

Guaranteed Entry

Position1: Specify the origin of the vector by position type data, vector type data or homogeneous translation type data. In all data types, elements used for calculation are X, Y and Z.
Position2: With Position1, specify a position to determine a vector V1 by position type data, vector type data or homogeneous translation type data. In all data types, elements used for calculation are X, Y and Z.
Position3: With Position1, specify a position to determine a vector V2 by position type data, vector type data or homogeneous translation type data. In all data types, elements used for calculation are X, Y and Z.

Return Value

Return a normal vector by vector type data.

Description

Return a vector which is vertical to a plane where three points belong (normal vector). The direction of the normal vector is the same as the cross product of V1 and V2. See the figure above.
By substituting a normal vector into an approach vector of the target position, you do not need to perform a teaching of a robot figure.For details, refer to the "Normal Vector Calculation Function" of FUNCTION GUIDE. For programming in that case, refer to "Example" shown below.

Related Terms

Normal Vector Calculation Function

Attention

Set Position1, 2 and 3 so that the area of the triangle composed by Position1 to 3 becomes as large as possible.

Example

Sub Main
 Dim aaa As Trans

 'Calculate a normal vector against a plane composed by P10, P11 and P12
 V1 = NormalVector (P10, P11, P12)

 'Convert the loading position P1 to homogeneous translation type data
 aaa = P2T(P1)

 'Substitute the normal vector into the approach vector of P1
 LetA aaa = V1

 'Convert P1 to position type data
 P1 = T2P(aaa)
End Sub

ID : 5532

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