Yaskawa Pose Format¶
The pose format that is used by Yaskawa robots consists of a position
in millimeters and an orientation that is given by three angles in
degrees, with
rotating around
-axis,
rotating
around
-axis and
rotating around
-axis. The
rotation order is
-
-
and computed by
.
Conversion from Yaskawa Rx, Ry, Rz to quaternion¶
The conversion from the angles in degrees to a quaternion
can be done by
first converting all angles to radians
and then calculating the quaternion with
Conversion from quaternion to Yaskawa Rx, Ry, Rz¶
The conversion from a quaternion with
to the
angles in degrees can
be done as follows.