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About Euler angle (Z, Y' ,Z'')

#1
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.
#2
What you describe is correct. The Y' means that the rotation happens after the first Z rotation.
#3
(03-16-2023, 03:31 PM)Albert Wrote: 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?
#4
That's correct.

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

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




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