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When I was following the procudure in textbook Robotics, Vision and Control: Fundamental Algorithms in MATLAB, I found that the output SE(3) of SerialLink.fkine() was not it supposed to be.
the function output:
what it supposed to be according to the textbook in Page 200, which had been confirmed by my own culcalation:
So, I belived there must be a bug in fkine and finally found it here:
at SerialLink\fkine.m line 63:
the original one is q = robot.todegrees(q);
and it should be: q = robot.toradians(q);
after replacing this line, everything goes perfect:
correct this bug in next version plz
Love your great works, Greeting with my best wish!
The text was updated successfully, but these errors were encountered:
When I was following the procudure in textbook Robotics, Vision and Control: Fundamental Algorithms in MATLAB, I found that the output SE(3) of SerialLink.fkine() was not it supposed to be.
the function output:
![微信图片_20240116201558](https://private-user-images.githubusercontent.com/85391078/297041017-15fe0e91-cea8-448d-844f-2153123ecb15.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjUwMzMwNTYsIm5iZiI6MTcyNTAzMjc1NiwicGF0aCI6Ii84NTM5MTA3OC8yOTcwNDEwMTctMTVmZTBlOTEtY2VhOC00NDhkLTg0NGYtMjE1MzEyM2VjYjE1LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MzAlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODMwVDE1NDU1NlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWY5ZmUxNTg1NmFmNGFiNmYxYjIwOWQxNmMyNDUzNTYxNTYxZjI3YTdjNDJmODgzMzIwNTJjOWNlZjAzN2ZlMGQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.SjQUfTXopAOf5zU0v8OguPnkdGz1j5hsozOdkkQ33is)
![微信图片_20240116201659](https://private-user-images.githubusercontent.com/85391078/297041382-b50d3b73-c5e7-44b8-aacd-118a51647b54.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjUwMzMwNTYsIm5iZiI6MTcyNTAzMjc1NiwicGF0aCI6Ii84NTM5MTA3OC8yOTcwNDEzODItYjUwZDNiNzMtYzVlNy00NGI4LWFhY2QtMTE4YTUxNjQ3YjU0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MzAlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODMwVDE1NDU1NlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWVkYTBjOTQ4MDEwMGJhOWRiZDZhNmNhMjBjNDVhYzhkOTNjYTIyYzk1NDExNmM2NTEwNWNkN2QyZTQ4ZWUwZmYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.TwTqS9r6U3-fol7Cy9XoiBcuVTHjWkcC7ZThvjxBMEI)
what it supposed to be according to the textbook in Page 200, which had been confirmed by my own culcalation:
So, I belived there must be a bug in fkine and finally found it here:
at SerialLink\fkine.m line 63:
the original one is
q = robot.todegrees(q);
and it should be:
q = robot.toradians(q);
after replacing this line, everything goes perfect:
![微信图片_20240116202348](https://private-user-images.githubusercontent.com/85391078/297042959-dfe692d5-ea87-469e-901d-cb94caf863de.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjUwMzMwNTYsIm5iZiI6MTcyNTAzMjc1NiwicGF0aCI6Ii84NTM5MTA3OC8yOTcwNDI5NTktZGZlNjkyZDUtZWE4Ny00NjllLTkwMWQtY2I5NGNhZjg2M2RlLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MzAlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODMwVDE1NDU1NlomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWJkMmFjYWMwZjE3OTVhMjVhMWZlZjZkNjNiZTExOTlkYjljOTcwMGMxOGNjNTAyMTQ4YTBmMDU3N2QyNjc3NTYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.WOPXAIHfmWWJMPkgJSvQZZLh--nvevq8KSlZGv_xJXQ)
correct this bug in next version plz
Love your great works, Greeting with my best wish!
The text was updated successfully, but these errors were encountered: