[Michael2022]

We use Doosan robot, which use Euler angle (Z,Y',Z'') in RoboDK.   Why dose RoboDK use Y' instead Y here? Dose Y' mean the rotated Y after rotating around the axis Z?  Thank you very much.

[Albert]

What you describe is correct. The Y' means that the rotation happens after the first Z rotation.

[Michael2022]

What you describe is correct. The Y' means that the rotation happens after the first Z rotation.

Thank you very much. You means that, in ZY'Z'', Y' is the rotated Y after Z rotation and Y' is the original Y. Right?

[Albert]

That's correct.

In short, you could also calculate the pose this way:

Code:

transl(x,y,z) * rotz(ra) * roty(rb) * rotz(rc)