Hi,
At my school of engineering, we have 5 xARM-6 robots with 1.8.10 firmware and Studio. For my next robotics classes, I’m developing forward kinematic model on Matlab.
I’ve noticed some problem on Roll Pitch Yaw calculation on xARM Studio (I’m using web browser to control the arm).
Results (see below my post) for 2 robot’s configurations (TCP offset are 0 and BASE too) :
TEST A => q0 is ZERO POSITION
TEST B => q10 is J1 = 10° and the others are set to 0°.
My FKM position XYZ is the same as the xARM studio for both tests.
PROBLEM on RPY:
TEST A : RPY is [ 180 0 0 ] for xARM studio and my FKM
TEST B
* RPY is [ 179.3 15.7 0 ] for xARM studio
* RPY is [ 180 0 10 ] for my FKM
As J1 is on BASE Z axis, I don’t understand why Ry is not 0 on your controller ?
TCP XY plan is parallel to BASE XY one.
TEST A
xARM studio :
q0 = [ 0 0 0 0 0 0 ]
X0 = [ 207.0000 0 112.0000 180.0000 0 0]
My FKM :
q0 = [ 0 0 0 0 0 0 ]
X0 = [ 207.0000 0 112.0000 180.0000 0 0]
Tmgd0 =
1.0000 0 0 207.0000
0 -1.0000 0 0
0 0 -1.0000 112.0000
0 0 0 1.0000
TEST B
xARM studio :
q10 = [ 10 0 0 0 0 0 ]
X10 = [ 203.9 35.9 112 179.3 15.7 0 ]
q10 = [ 10 0 0 0 0 0 ]
X10 = [ 203.8552 35.9452 112.0000 180.0000 0 10.0000 ]
Tmgd10 =
0.9848 0.1736 0 203.8552
0.1736 -0.9848 0 35.9452
0 0 -1.0000 112.0000
0 0 0 1.0000
