Dear all, <br><br>I am writing a program for the SBPL arm planner. In this regard, I had a conceptual doubt regarding the roll of the end effector (as computed by the forward kinematics solver).<br><br>If I start with a roll of 0.5 radians, and add a roll of -0.5 radians, I am supposed to end up at &#39;0&#39; right?? But when I change the roll by the indicated amount, the forward kinematics solver does not indicate a resultant roll of 0.<br>
<br>I am assuming that the wrist roll is about the end effector length axis. And any change in wrist pitch (or change in forearm roll angle) is completely decoupled with a change in wrist roll.<br><br>Please let me know where I could possibly be going wrong.<br>
<br>Thanks<br>Gokul.<br>