+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API)
+--- Thread: Mathematical definition of Tx,Ty,Tz,Rz,Ry',Rx" (/Thread-Mathematical-definition-of-Tx-Ty-Tz-Rz-Ry-Rx)
Mathematical definition of Tx,Ty,Tz,Rz,Ry',Rx"-DibashAdhikari-10-23-2020
the more I work, the more I got confused,
although I am trying to find the pattern in Z, y', x" I want to know from the developer.
what is the mathematical definition of the rotation part?
suppose in the rhino I have x, y, z and angle with xy plane, angle with xz plane and angle with yz plane then is there a relation or formula that I can use to determine the Z, y', x"?
RE: Mathematical defination of x,y,z, Z, y', x"-Jeremy-10-23-2020
Hi Dibash,
你知道w about Euler angles? Z, Y', X'' is one "flavor" of Euler angles.
If you are not familiar with the subject, I can recommend this link:https://www.mecademic.com/resources/Euler-angles/Euler-angles
It was most likely written by Pr. Ilian Bonev. He supervised the work of RoboDK's main developer and mine during our studies (different times and different projects).
This is a short explanation, more research may be needed. But that should be a good starting point.
希望它可以帮助。
Jeremy
RE: Mathematical defination of x,y,z, Z, y', x"-DibashAdhikari-10-23-2020
i read it, it's confusing probably because its new, although I make my own formula, and luckily it worked, (maybe only for 1 project)
can you help me in simplify the above instruction,
in csv i have x, y, z, the angle between given line and z-axis, y-axis, x-axis
how can I call it in python to get the value of x,y,z,z,y',x"
RE: Mathematical defination of x,y,z, Z, y', x"-Jeremy-10-23-2020
You need to do more researches on the topic or Euler angles.
It's one of the hard parts of robotics, but a needed one. I don't really have any other read to point you towards as I did not study this topic in English, sending you manuals in French wouldn't be super helpful.
I took a quick look at the Wiki page and it seems interesting and informative. I also saw a few videos on YouTube.
"in csv i have x, y, z, the angle between given line and z-axis, y-axis, x-axis", this means that you have X,Y,Z,rz,ry,rx this is another valid representation of the Euler angles.
You can play a bit with that. In your robot panel, where you see the position of the TCP with respect to the Reference Frame, you can use the drop-down menu to switch from XYZ rz,ry',rx'' and X,Y,Z,rz,ry,rx.
Jeremy
RE: Mathematical defination of x,y,z, Z, y', x"-DibashAdhikari-10-26-2020
I solve the problem for now, but when I saw the postprocessor code of irc5, the code already has a matrix that calculates the Euler angle.
I hope you will make a video on this topic,
thank you,
The code is in ABB Rapid irc5 post-processor, from line 908,
Code:
def Pose(xyzrpw):
[x,y,z,r,p,w] = xyzrpw
a = r*math.pi/180
b = p*math.pi/180
c = w*math.pi/180
ca = math.cos(a)
sa = math.sin(a)
cb = math.cos(b)
sb = math.sin(b)
cc = math.cos(c)
sc = math.sin(c)
return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])
RE: Mathematical definition of Tx,Ty,Tz,Rz,Ry',Rx"-DibashAdhikari-10-30-2020
I SOLVE THE PROBLEM I THINK A EASY WAY,
https://youtu.be/ROJbOXm4XIo
RE: Mathematical definition of Tx,Ty,Tz,Rz,Ry',Rx"-Jeremy-10-30-2020
Nice!