Im using robotic toolbox to simulate my robot, but i always confused when i see the value of rpy. It always different if i compare with tr2rpy and tr2eul. What kind of rotation used in SerialLink.teach?
a = 40/1000;
b = 81/1000;
c = 130/1000;
d = 18/1000;
e = 166/1000;
f = 31/1000;
g = 95/1000;
%MDH
p = SerialLink([...
Revolute('d',b,'a',0,'alpha',0,'modified');...
Revolute('d',0,'a',a,'alpha',deg2rad(90),'offset',pi/2,'modified');...
Revolute('d',0,'a',c,'alpha',0,'modified');...
Revolute('d',e+f,'a',d,'alpha',deg2rad(90),'modified');...
Revolute('d',0,'a',0,'alpha',deg2rad(-90),'modified');...
Revolute('d',g,'a',0,'alpha',deg2rad(90),'modified');],...
'name','6 DOF')
p.teach([0 deg2rad(90) 0 deg2rad(20) deg2rad(10.8) 0]);
tr2rpy(FK,'deg')
tr2eul(FK,'deg')
- In Simulation = -159.669 -10.142 3.733
- tr2eul = -160 10.8 0
- tr2rpy = 0 10.8 -160
Or what am i missed?