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● 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(if no offset)
1. You must check the TCP offset before recording the
Cartesian position.
