## Computing Cable Rotation From XYZ Point Data

Hi! I'm wandering if anyone can help me with a little bit of a math problem. I'm working with some CNC software that I need a little bit of help on. Some of the items we are bending use XYZ point tables to computer in virtual space, where points of a cable intersect. Using the radius wheel, we then can compute where the arcs go etc. so the end result is a bent & formed semi rigid cable. I need help trying to compute the rotation angles for our bender though.

The bender has three motors, one for the horizontal cable feeder, one for the bending arm, and the third rotates the cable in a clockwise/counter clockwise form. A typical XYZ table would look something like:

**PT.# **X **Y **Z **
1 227.15 -68.07 8.16
2 227.15 -85.00 8.16
3 203.00 -70.00 -15.00
4 175.00 -68.70 -19.40
5 147.00 -60.00 -50.00
6 105.35 -60.00 -60.00
7 92.43 -59.54 -80.95
8 92.43 -46.11 -67.52

Can anyone point me in the right direction on how (mathematically) I can compute the rotations needed from just the XYZ points? Links to such documents welcomed. I have been able to do everything else except this. Any help is greatly appreciated!

AndyK