between the angles of β should be inserted, and the angle that formed
by the inserted point and A should be smaller than α.
●
The +180° and -180°points of the Roll/Pitch/Yaw are coinciding
in the space, and the valid range is ±180°, so it is possible to
have both ±180° when the robotic arm is reporting the position.
●
Roll angle, pitch angle, and yaw angle (RPY). The RPY rotation
matrix (X, Y', Z" rotation) is determined by the following formula:
R rpy (γ, β, α) = R Z (α) · R Y (β) · R X (γ)
A: Base coordinates
B: TCP coordinates (no offset)
