orientation error between 2 trajectory end effector

Hi,

Am trying to find the orientation euclidean distance error between 2 robots end effector

i measured the euler angles using these equation

and used (β1-β2+α1-α2+γ 1-γ 2)/3 to get the orientation distance error

but the error value i get is significantly lower from the visible trajectory i have

am i doing something wrong ?

[Sam Chak]

Hi @chaker ben salem

Can you post a picture of the two robot end effectors with labels for ?

The picture should improve our understanding to your problem that involves trigomometric functions.

Thank you for your consideration.

[chaker ben salem]

@Sam Chak sorry for the late reply,

here's an example, it is the same robotic arm

[Sam Chak]

Hi @chaker ben salem

Thanks for images. Would you edit your Question and put these two images so that interested readers can see them and might be able to think of a solution?

Some readers are very good at math, trigonometry and attitude determination, but they may not understand what those symbols are. Therefore, you are advised to label for clarity. Otherwise, only roboticists who are good at math, trigonometry, attitude determination, and MATLAB can provide the answer you are seeking.

[chaker ben salem]

@Sam Chak

yes i understand, thanks for the clarification