ORI1 and ORI2 velocity in KUKA KR6
Hello everyone,
I am currently developing my thesis using a KUKA KR6 robotic manipulator. The purpose is to use it to test new and upcoming knee surgeries on cadaveric knees. The femur will be fixed to a table, and the manipulator will move the tibia in relation to it. I have programmed the trajectories in KRL, using LIN movements. I am now on to the part of programming the correct anatomical velocities.
The knee has 6 degrees of freedom, which correspond directly to Cartesian coordinates in my Kuka setup as follows:
X - Anterior Drawer
Y - Lateral Shift
Z - Joint Distraction
A - External Rotation
B - Flexion
C - Abduction
I have data on the angular velocity of knee flexion, and I want to translate it into information I can input into my KRL program. However, Kuka only takes VEL.CP, VEL.ORI1 and VEL.ORI2.
If I'm understanding correctly, VEL.ORI1 is the velocity of the Z axis turning on itself, so it's directly the External rotation velocity. However, I am not clear on what the ORI2 velocity is. I have seen on other online forums that it is the velocity of the angle phi, in spherical coordinates (https://en.wikipedia.org/wiki/File:3D\_Spherical\_2.svg), is that correct?
Additionally, does anyone have an insight on how I could translate the angular velocity of the flexion (B), into these velocity components?