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Around which axes are the rotation vector angles defined? 
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Answered  
/ Most recent by thib
in Programming

3 comments 
Andre
Posts: 17 Apprentice
in Programming
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!
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!
Have a nice day
Andrea
Regarding the doc "Rotation vectors is differe..." the post is a bit old and I see that it has a "norm" function that is not used in the final result. Do you confirm that it is valid ?
Is there something as a Python library with up to date functions for UR ?
Thanks :)