dof6 = [m[1], -m[0], m[2], m[5] * math.pi / 180, m[4] * math.pi / 180, m[3] * math.pi / 180]

SiqiD47 / vision2019

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dof6 = [m[1], -m[0], m[2], m[5] * math.pi / 180, m[4] * math.pi / 180, m[3] * math.pi / 180] #1

Closed Anna1015 closed 4 years ago

Anna1015 commented 4 years ago

I know that m[5], m[4] and m[3] represent EZ, EY and EX. But m[1], -m[0], m[2] means Y, -X and Z ? Why are they arranged in this order？

SiqiD47 commented 4 years ago

Thank you for contacting me. If I remember correctly, m[0] = X, m[1] = Y, m[2] = Z, m[3] = EX, m[4] = EY, m[5] = EZ. Z-Y-X is the order of how ABB robots work, this is just pre-determined.