Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
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•
and, finally, about X
B
" by an angle Rx.
In this convention, each rotation is performed about an axis moving frame {B}
rather than one of the fixed reference frame {A}. Such sets of three rotations are
called Euler angles. Because the three rotations occur about the Z
B
, Y
B
’ and X
B
", we
will call this representation Z-Y-X Euler angles. ZYX Euler angles is also referred
in the literature as ZYX moving frame OR ZY’X".
Tip:
XYZ in fixed frame convention is equivalent to ZY’X" moving frame convention.
The two conventions described above are commonly used conventions. There are
other conventions like Z-Y-Z that user may be more familiar. In all there are 12
fixed angle and 12 moving frame conventions. It is possible to develop application
code to convert from any of these conventions to fixed angle convention used by
Logix embedded software using application code.
See also
Configure a Cartesian Coordinate System
Conversion from XYZRxRyRz to Transform Point
A robot application sometimes needs to represent different frames for
programming and moving a robot manipulator with various frames as shown in
the figure below.
Point conversion