Hello,
does anybody know how is the transformation from one coordinate system to another done with Yaskawa Motoman robots? What kind of transformation notation is used? Euler ZXZ, Quaternions or some other kind? I am reading about transformation matrices, Denavit-Hartenberg parameters etc. but i am a little lost. My goal is to get a transformation matrix from BF to TF and vice versa in form: [R]*[T].
Perhaps somebody can also help me how to check the angle of each joint, when the TF is in a certain position.
Thank you in advance for your help!