wyh rotation matrix convert to eular angle is not same with original eular?
1 回表示 (過去 30 日間)
古いコメントを表示
At the beginning,i use eul2rotm function to convert eular degree to rotation matrix,then use rotm2eul function convert to back ,but it not same as before,why it occur like this result,i don't it understand. Thanks in advance!
eular1 = [pi/2,pi,-pi/2] % ZYX default order
r = eul2rotm(eular1,'ZYX');
eular2 = rotm2eul(r,'ZYX')
eular2 is not same eular1?
0 件のコメント
採用された回答
Matt J
2022 年 5 月 10 日
編集済み: Matt J
2022 年 5 月 10 日
It is the same, because eul2rotm is not a 1-1 function.
eular1 = [pi/2,pi,-pi/2]; % ZYX default order
r = eul2rotm(eular1,'ZYX')
eular2 = rotm2eul(r,'ZYX');
r2=eul2rotm(eular2,'ZYX')
7 件のコメント
Sam Chak
2022 年 10 月 29 日
編集済み: Sam Chak
2022 年 10 月 29 日
You must apply the torque to rotate from one orientation to another. To achieve the minimum rotation, this implies that you need to apply the minimum torque.
You can derive a formula to compute the optimal torque needed, through the rigorous mathematics route.
Or you can take the AI/ML route to automatically find just the right torque, with a click of a button without knowing the math of the system and the torque actuator. You need to define the Cost/Objective Function though.
その他の回答 (0 件)
参考
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!