Table 2 Required range of the position and orientation variables and their speed
Symbol of the position and orientation parameters | The required range | The required speed range |
|---|---|---|
Roll angle θr (°) | [− 15, 15] | [− 5, 5] (°)/s |
Pitch angle θp (°) | [− 28, 28] | [− 5, 5] (°)/s |
Yaw angle θy (°) | [− 28, 28] | [− 5, 5] (°)/s |
Translation distance z (mm) | [0, 300] | [− 50, 50] mm/s |