Simscape Multibody, Transform Sensor, quaternion output

Hello, I am using the Transform Sensor in simulink to get the Quaternion orientation between robot End Effector and base position.

at the same time I am using another Transform Sensor to get the Quaternion orientation between a target and the base position.

my question is: how can i take the difference between them (in simulink) so I can minimize it to zero ?

Answer 1

[J Chen]

Take a look at this: https://www.mathworks.com/matlabcentral/answers/415936-angle-between-2-quaternions