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Forward and Inverse Kinematics, Lesson 8 #75

Closed sychaichangkun closed 7 years ago

sychaichangkun commented 7 years ago

The solution of Lesson8 Euler Angles from a Rotation Matrix, in Forward and Inverse Kinematics, is obviously wrong.

sahiljuneja commented 7 years ago

Hey, could you provide more details on what you think is wrong so that we can look into it accordingly?

sychaichangkun commented 7 years ago

@sahiljuneja The solution is like this: beta = atan2(-r31, sqrt(r11 r11 + r21 r21)) rtd gamma = atan2(r32, r33) rtd alpha = atan2(r21, r11) rtd print("alpha is = ",alpha, "radians", "or ", alphartd, "degrees") print("beta is = ",beta, "radians", "or ", betartd, "degrees") print("gamma is = ",gamma, "radians", "or ", gammartd, "degrees")

-----------------------output--------------------------- alpha is = 45.0000000000000 radians or 2578.31007808870 degrees beta is = 60.0000000000000 radians or 3437.74677078494 degrees gamma is = 30.0000000000000 radians or 1718.87338539247 degrees

alpha, beta and gamma have already been converted to degrees, why muptiply by rtd again?

sahiljuneja commented 7 years ago

Aah, good catch. Thanks! Fixed.