Newsgroups: comp.robotics
Path: brunix!sgiblab!swrinde!cs.utexas.edu!uunet!math.fu-berlin.de!informatik.tu-muenchen.de!ettenhub
From: ettenhub@Informatik.TU-Muenchen.DE (Christian Ettenhuber)
Subject: Getting OAT-Coordinates for PUMA-560 out of EULER or YPR?
Originator: ettenhub@hpsiegert6.informatik.tu-muenchen.de
Sender: ettenhub@Informatik.TU-Muenchen.DE (Christian Ettenhuber (Schweiger))
Organization: Technische Universitaet Muenchen, Germany
Date: Thu, 30 Sep 1993 09:44:03 GMT
Message-ID: <1993Sep30.094403.163@Informatik.TU-Muenchen.DE>
Lines: 15



At the University of Munich we use two PUMA-560 Robots manufactured by
UNIMATION. The Position of these Robots can be given by the six
joint coordinates or by World coordinates. The World coordinates are
specified by x, y, z and by the angles O, A, T
Now whe use a Simulation Programm called IGRIP. According to
our informations about this Programm, it's only possible to get the
world coordinates of a simulated Robot in Euler or Yaw-Pitch-Roll Angles.

Has someone informations about transforming Euler or YPR - Angles to
the O, A, T - System. It would be very nice if someone can help me.


Ettenhuber Christian
