wyh rotation matrix convert to eular angle is not same with original eular?
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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?
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Accepted Answer
Matt J
on 10 May 2022
Edited: Matt J
on 10 May 2022
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 Comments
Sam Chak
on 29 Oct 2022
Edited: Sam Chak
on 29 Oct 2022
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.
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