Robotics Yaw Pitch Roll Euler Angles

RotbotGuy

I have multiple robot cells that i would like to move fixtures from robot to robot with the out come of the part to be perfect. in order to do that i need to make sure my work object is in the same spot each time. so i need to find the yaw pitch and roll and convert them into Euler angles.

On each fixture i will have a small 1" cube i that i will touch off on and find points to get the yaw, roll and pitch. as of now i am talking 2 points for each yaw roll and pitch, but im having a hard time finding the Euler angles. I also know the coordinates of the center of the cube

thanks

arildno

The time evolution of the Euler angles is dreadfully difficult in the general case, due to the extreme non-linearity of the diff.eqs governing it.

Often, it is assumed only tiny changes in the quantities involved, so that linearization of the diff.eqs is justified; is that an acceptable procedure in your case?

If not, then I'm sure there exists a vast technical literature in how to tackle the problem, but I would think it is very complicated, indeed...

RotbotGuy

Im not picking up what you're putting down...

D H

A general comment: It would help if you spelled better. Many of the members at this site are picky, pedantic types who really do not like the general decline in grammar in the US.

That said, the leap from step 1 (ensure the object is in the same spot each time) to step 2 (finding yaw, pitch, and roll, and converting those to Euler angles) is not a necessity. It appears to be a consequence of how you have chosen to represent rotations.

Before going any further, what exactly do you mean by "find the yaw pitch and roll and convert them into Euler angles"? Yaw, pitch, and roll *are* Euler angles to many. Did you mean the standard ZYZ Euler angles when you said you needed to convert yaw, pitch, and roll to Euler angles?

RotbotGuy

Sorry about the grammar,

I Need to input the Euler angles of my work object. I want to make sure when I move a fixture to a different cell, the plastic part it is being cut the same in each cell. So I figured by finding the yaw, pitch, and roll, I would be able to correct any error. I have found a way to find the angle of the error. Now i just need to apply it to the correct function.