Hi.

I've recently run a series of tests on a KR-60 Robot using a KRC2 controller.

I have position data at the tool center point, in the tool frame and I'm interested in getting position data from a DIFFERENT point on the tool for which I have the coordinates in the tool frame.

I've created a 4x4 transformation matrix that represents the motion of the tool during the test, and I will multiply the vector of the point I'm interested in by that matrix to get its final position.

The only thing I'm a bit confused about is the KUKA representation of Euler angles, and I'd like to make sure I'm doing the right thing since we will be publishing this data in a scientific journal.

I'm under the impression that the angles are represented as INTRINSIC X''Y'Z Euler angles starting with Z (A), then Y (B), then X (C)

So, to construct a rotation matrix from thos angles I need the matrix

R=X''Y'Z which would be equivalent to R=ZYX where

X=[1 0 0

0 cos(C) -sin(C)

0 sin(C) cos(C)]

Y=[cos(B) 0 sin(B)

0 1 0

sin(B) 0 cos(B)]

Z=[cos(A) -sin(A) 0

sin(A) cos(A) 0

0 0 1]

Is this the correct way to compute a rotation matrix from the KUKA euler angles A,B,C?

Thanks for your help.