I need a way to get information from our KRC4 so that I can figure out how much it is pointing up/down relative to a plane parallel to the 'floor'. The robot may be mounted to a wall, so it can't be in relation to the base plane of the mounting of the robot.
For this particular application, I don't care about any other orientations, only the angle +/- of horizontal.
Is there a way to use the angle of all the joints to determine this? Since the forearm and wrist can both twist you just can't 'sum' the angles of the joints.
Any suggestions?
Thanks,
Mike