When I was following the procudure in textbook Robotics, Vision and Control: Fundamental Algorithms in MATLAB, I found that the output SE(3) of SerialLink.fkine() was not it supposed to be.
the function output:
what it supposed to be according to the textbook in Page 200, which had been confirmed by my own culcalation:
So, I belived there must be a bug in fkine and finally found it here:
at SerialLink\fkine.m line 63:
the original one is
q = robot.todegrees(q);
and it should be:
q = robot.toradians(q);
after replacing this line, everything goes perfect:
correct this bug in next version plz
Love your great works, Greeting with my best wish!
When I was following the procudure in textbook Robotics, Vision and Control: Fundamental Algorithms in MATLAB, I found that the output SE(3) of SerialLink.fkine() was not it supposed to be.
the function output:
what it supposed to be according to the textbook in Page 200, which had been confirmed by my own culcalation:
So, I belived there must be a bug in fkine and finally found it here: at SerialLink\fkine.m line 63: the original one is
q = robot.todegrees(q);and it should be:q = robot.toradians(q);after replacing this line, everything goes perfect:
correct this bug in next version plz
Love your great works, Greeting with my best wish!