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the shortest way to reach target orientation. In particular, it is
important to strictly control the magnitude of the deflection angle
between the two points to control the direction of rotation, and if
necessary, insert a third point between the two points. As shown in
figure 6.4, if a deflection is needed from position point A to point B,
the robotic arm moves in the direction of α angle. If the robotic arm
needs to be moved in the direction of the β angle, a new position
between the angles of β should be inserted, and the angle that
formed by the inserted point and A should be smaller than α.
● The +180° and -180°points of the Roll/Pitch/Yaw are coinciding in
the space, and the valid range is ±180°, so it is possible to have
both ±180° when the robotic arm is reporting the position.
● Roll angle, pitch angle, and yaw angle (RPY). The RPY rotation
matrix (X, Y', Z" rotation) is determined by the following formula:
R rpy (γ, β, α) = R Z (α) · R Y (β) · R X (γ)
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