Data Sheet

58
The goal pose runs IK my moving the roll gets increased by delta(rad). The
end effector moves to whatever the IK has solved and displays the joint
poses(rad).
Despite having errors and not being able to get the IK moving can be
allowed. If 'Do you want make the Robot move? (Y/N)' appears onscreen press
the y key to turn the end effector in the roll axis by delta_angle_rad. Then the
joints pose(rad) are displayed.
A roll (roll-only) delta is ( delta_angle_rad = )
When error is too large and IK is unrealizable 'No IK Solution‘ will be
displayed the end effector will remain as is.
The sample code from above is broken down below. Press the r key to move
the roll by delta_angle_rad.
The desired rotation matrix can then be obtain with the following
Where the code is shown below.
matd DesiredRotation = Algebra::GetOrientationMatrix
(delta_angle_rad, 0.0, 0.0)
*Algebra::GetOrientationMatrix(CurrentPose.Roll,
CurrentPose.Pitch,
CurrentPose.Yaw);
The CurrentPose’s Orientation roll increase by delta_angle_rad
GoalPose(DesiredRotation).
.
vecd DesiredRPY = Algebra::GetEulerRollPitchYaw(DesiredRotation);
DesiredRotation’s roll, pitch, and yaw..