NORMAL transformation function NORMAL transformation function Syntax NORMAL (transformation_value) Function Correct a transformation for any mathematical round-off errors. Usage Considerations For most robot programs, transformation normalizing never has to be performed. Parameter transformation_value Transformation, transformation valued function, or compound transformation whose value is to be normalized. Details Use this function after a lengthy series of computations that modifies a transformation value. For instance, a procedural motion that incrementally changes the orientation of a transformation should occasionally normalize the resultant value.
Within a transformation, the orientation of the robot is represented by three perpendicular unit vectors. Because of the small inaccuracies that occur in computer computations, after being incrementally modified many times, these vectors can become nonperpendicular or not of unit length. The NORMAL function returns a transformation value that is essentially the same as the input argument but has the orientation portion of the value corrected for any small buildup of computational errors that may have occurred. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 365