Figure 15.
Conversion from the laser reference to the robot reference. Note that the β angle goes from the axis up to the axis. Since it goes clockwise, it is negative.
Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.