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AndreAndre Posts: 17 Apprentice
Hi everyone,

Does anyboy know which Euler convention (angles) is used by Universal Robots when displaying the angles under the name of "rotation vector"? I need it for a program external to the UR to use the angles I can read via the port 30003 or the RTDE 30004, but to do so,I have to know the convention if not I can not build the rotation matrix. I would like to avoid to have to run a program on Polyscope to convert the rotation vector angles into RPY angles.
For example: RPY angles are defined by 3 rotations according to 3 axes: X, Y, Z according to the fixed reference frame of the robot base. I would like to know according which axes are the rotation vector angles calculated.

Thank you very much for your help!


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