Hi,
Any help would be greatly appreciated
I have a simulation (V-REP) where I record thousands of position and orientation of the Barrett gripper. simxGetOrientation with respect to the world frame (or reference frame)
According to V-REP convention
Q = rotx(alpha)->roty(beta)->rotz(gamma)
but its an extrinisic record (with respect to the world) of orientation so its reversed (according to wikipedia)
Q = rotz(gamma)->roty(beta)->rotx(alpha)
Now I am working with a real live Kuka robot and they also have a convention
rotz(a)->roty(b)->rotx(c)
so then it should be:
a=gamma
b=beta
c=alpha
when I do a rotation around a single axis i.e. a = b = 0; c = 40 the robot behaves as it should but when I try and perform some of the recorded rotations like: a=99; b=78, c=15 it does not work.
I have recorded thousands of positions and orientations, now its time to get them on the robot - but this is doing my head in.
Thx