get_orientation_error (Manual Mode)

This section explains how to use get_orientation_error during Manual (Teach) operations. This function calculates the orientation difference (error) between two poses in task space. It is mainly used to evaluate angular deviation between taught poses — for instance, to check how much the tool orientation has rotated relative to a reference direction during manual alignment, calibration, or frame teaching.

Typical usage

• Measure angular deviation between two tool orientations (e.g., before/after teaching).

• Verify if a new taught pose maintains the desired rotation tolerance.

• Compare TCP orientation consistency during frame or tool calibration.

• Monitor orientation drift during hand-guided motion or force teaching.

Note

• The function only performs numerical comparison — it does not affect robot motion.

Example: Compare tool orientation difference between two poses

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active

    // Step 1. Define two poses in TASK coordinates
    float poseA[NUM_TASK] = {400.0f, 0.0f, 300.0f, 180.0f, 0.0f, 180.0f};
    float poseB[NUM_TASK] = {400.0f, 50.0f, 300.0f, 175.0f, 0.0f, 182.0f};

    // Step 2. Compute orientation difference about Z-axis
    float errZ = drfl.get_orientation_error(poseA, poseB, TASK_AXIS_Z);

    // Step 3. Display result
    printf("[Orientation Error] ΔRz = %.3f degrees\n", errZ);

    return 0;
}

In this example, two TCP poses are compared using get_orientation_error, and the angular deviation around the Z-axis is computed. This allows users to check if the taught point maintains orientation accuracy within a specified rotational tolerance before saving or proceeding with calibration.

Tips

• Use for tolerance validation in frame or tool calibration workflows.

• Combine with coord_transform to compare orientations across frames.

• When the error exceeds a threshold (e.g., ±2°), consider re-teaching or refining approach paths.

• Compare multiple axes (X, Y, Z) sequentially to analyze full 3D rotational deviation.