5.8. Motion and Rotation

Robot motion and rotations

Changes position and orientation

Example:

Position in base frame of:

  • x = 200 mm
  • y = 300 mm
  • z = 500 mm
  • rx = 0
  • ry = 0
  • rz = 180 deg
 
pose = p[0.2,0.3,0.5,0,0,3.14]

Frame in Frame

Frame transformation

Frame Transformation