做动态图片下载哪个网站好,深圳网站建设公司哪里有,网站源码cms,建站教学RPY_Euler_Quaternion_AngleAxis角度转化#xff1a;Matlab、Python、HalcRPY_Euler_Quaternion_AngleAxis角度转化#xff1a;Matlab、Python、Halcon版本UR协作机器人和Franka机器人导出的位姿为angleVector#xff0c;三个量表示#xff0c;在Matlab中angleVector是四个…RPY_Euler_Quaternion_AngleAxis角度转化Matlab、Python、HalcRPY_Euler_Quaternion_AngleAxis角度转化Matlab、Python、Halcon版本UR协作机器人和Franka机器人导出的位姿为angleVector三个量表示在Matlab中angleVector是四个量表示。如果是三个量的表示推荐使用Python的scipy库做转换。https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#Rotation_vector[var1]1.1 Quaternion转Matrix (带位置和姿态)robotHtool [0.10345922, -0.48407779, 0.29668114, -0.03533355, 0.09830182, -0.86382214, 0.49284846];% w x y zrobotHtool_qua Quaternion([robotHtool(7), robotHtool(4), robotHtool(5) , robotHtool(6)])robotHtool_matrix transl(robotHtool(1), robotHtool(2), robotHtool(3)) * robotHtool_qua.T[var1]2.1 UR机器人rotvec转换为RPY_rxryrzUR机械臂通过30003端口发送过来的是rotation vector, 示教器Polyscope界面上Move标签栏中显示的是RPY_rxryrzhttps://www.universal-robots.com/articles/ur/explanation-on-robot-orientation/https://www.universal-robots.com/articles/ur/rpy-tofrom-rotation-vector/scipy spatial transform官方帮助https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.htmlfrom scipy.spatial.transform import Rotation as Rr R.from_rotvec([-0.001220983, 3.1162765, 0.038891915])Euler_xyz r.as_euler(xyz, degreesFalse)2.2 川崎机器人Euler_ZYZ转四元数Quaternion[var1]3.1 Halcon 的姿态、齐次变换和四元数create_pose函数是包含位置和姿态的姿态格式为RPY_rx_ry_rz注意输入为角度。pose_to_hom_mat3d是RPY_rx_ry_rz转为齐次矩阵。四元数的顺序是w, x, y, zrobot_V_cam : [0.418906862152, 0.471104634456, 0.729862740299, 2.851, -1.241, -0.008]* Create pose use degrees.create_pose (robot_V_cam[0], robot_V_cam[1], robot_V_cam[2], deg(robot_V_cam[3]), deg(robot_V_cam[4]), deg(robot_V_cam[5]), RpT, gba, point, Pose)pose_to_hom_mat3d(Pose, robot_H_cam)pose_to_quat(Pose, robot_Q_cam)hom_mat3d_to_pose(robot_H_cam, pose_test1)************************* xyz *********************************************hom_mat3d_identity (HomMat3DIdentity)hom_mat3d_translate (HomMat3DIdentity, robot_V_cam[0], robot_V_cam[1], robot_V_cam[2], HomMat3DTranslate)hom_mat3d_rotate_local (HomMat3DTranslate, robot_V_cam[3], x, HomMat3DT_Rl)hom_mat3d_rotate_local (HomMat3DT_Rl, robot_V_cam[4], y, HomMat3DT_Rl_Rm)hom_mat3d_rotate_local (HomMat3DT_Rl_Rm, robot_V_cam[5], z, HomMat3D)hom_mat3d_to_pose (HomMat3D, pose_test2)********************* right-left old zyx **********************************hom_mat3d_identity (HomMat3DIdent)hom_mat3d_rotate (HomMat3DIdent, robot_V_cam[5], z, 0, 0, 0, HomMat3DRotZ)hom_mat3d_rotate (HomMat3DRotZ, robot_V_cam[4], y, 0, 0, 0, HomMat3DRotYZ)hom_mat3d_rotate (HomMat3DRotYZ, robot_V_cam[3], x, 0, 0, 0, HomMat3DXYZ3)hom_mat3d_translate(HomMat3DXYZ3, robot_V_cam[0], robot_V_cam[1], robot_V_cam[2], HomMat3Dzyx)hom_mat3d_to_pose(HomMat3Dzyx, pose_test3)RPY_Euler_Quaternion_AngleAxis角度转化Matlab、Python、Halc相关教程
