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I have a body in space, precisely a robots foot, defined by xyz and a roll pitch and yaw. The pitch is along the degree of freedom defined by the pitch joint. I want to rotate the foot using a rotation matrix, and then recover the roll pitch and yaw such that the pitch parameter still represents a rotation as afforded by the pitch joint. Similarly for roll and yaw. There are plenty of tricks for recovering yaw pitch and roll from a rotation matrix, but that doesn't neccesarily guarantee that the parameters corrospond with the axes of rotation on the robot. Does that make sense? Any ideas? Thank you.

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    This link http://planning.cs.uiuc.edu/node102.html explains the used notation quite well. (Mostly for other people on this site, but maybe helpful for you as well.)2012-06-14

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