[cwwstc]

Thank you very much! Your answer is very helpful and useful!

Best regards.

Hello,

Universal Robots uses what they calluvw值代表一个姿势的取向。的se values correspond to the rotationvectorand not a Euler angle representation. Thenormof this uvw vector is the rotation (seen in radians or degrees, depending on your choice).

This representation is similar to ABB's representation (ABB RAPID programming uses Quaternions). uvw and Quaternions are both an alternative to Euler angles. Euler angles are used in most robot controllers, such as Motoman, Fanuc, KUKA, Staubli, Mecademic, etc. ABB and UR don't use Euler angles.

Any pose in RoboDK has the same menu you see in the following image. This window allows you to see the same transformation in different representations.



In any case, no matter the representation you choose for the transformation, the post processor will convert the pose (transformation) to the correct format for your controller.

More information here:
//m.sinclairbody.com/doc/en/Basic-Guide.html#RefFrames
//m.sinclairbody.com/blog/robot-euler-angles/

(this is not a bug so I'm moving it to general questions)