Thanks Jeff, (1)Refering to the book of "Introduction to robotics Mechanics and Control", I can conclude that the RPY are not a type of the Euler Angles, is this right ?
Because the "Current" RPY's value is a state of rotation coming from the "Last" relatively fixed RPY's value, Differently, the Euler Angles of "Current" time is from the "Last" time which is not fixed, for example , for the "ZYZ" Euler Angle, the second rotation by "Y" is refering to the state after the first rotation of the "Z". Is the above description right? (2) If that's right, my 2nd question is that, in the RPY(ABC) case, what's the interval time between the 'Current' state and the 'Last' state's time, in the LinuxCNC? Best regards! On Fri, Oct 23, 2015 at 3:57 PM, reise tiet <[email protected]> wrote: > Thank you,Rob, > > It's really the genserkins.c 's bug, not the Motion's , I made a mistake > in the data checking > > But,I still want to know the representation of ABC's value, who can tell > me?.. > > Best regards. > > On Sun, Oct 18, 2015 at 2:59 PM, reise tiet <[email protected]> wrote: > >> Thanks,Seb, >> >> But, i don't think it's the fault of the genserkins kinematics, but the >> TP's fault. >> >> Because in control.c, in the case EMCMOT_MOTION_COORD, after the >> tpRunCycle() , the tpGetPos() gets a different >> "&emcmotStatus->carte_pos_cmd" with different values calculated by TP. >> >> I want to konw where or how the ABC's value is calculated in the TP? >> >> BTW, is the ABC representing the Euler of angles in the order of ZYX? >> >> Reise. >> > > ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
