FeedbackPose Rx Ry Rz

Robot Controller
1

Hi,

Can anyone tell me the meaning of the Rx,Ry and Rz values packed in the FeedbackPose element regarding the RRI Robot Reference interface.
What does Rx,Ry,Rz mean ? Yaw , pitch , roll ? Euler Angles ? Applied in what order ?
With reference to what ?

Thanks

2

Don’t know what that exact interface does but normaly the Rx is Roll around X axis in degrees, Ry is Roll around Y axis and same with z but around the Z axis instead.

For example if you have a defined tool frame and then use Rx the robot will rotate around it’s tool frame’s X axis.

Hope this helped at least some!

3

The Rx, Ry , RZ are in Euler Angles. It is ZYX. See the functions OrientZYX and EulerZYX in the Rapid Reference manual These functions allow conversion from quaternions to euler angle and back.