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About right hand and left hand coordinate system transform matrix.

seungyeon_kim_1
Honored Guest
hi! i have a question about coordinate system. please help me!!

I'm senior student in university. My senior project's subject is development of robot arm simulator based on virtual reality.

I developed inverse kinematics algorithm about 6 D.O.F robot arm. And i used ADAMS with right - handed coordinate system for algorithm verification.

So, my algorithm does not match unity. (Adams uses the right hand coordinate system. Unity uses the left hand coordinate system.)

You can see the coordinate system in unity and Adams in the figure below.

The positions are transformed using the following matrix.
                            [0 0 1;
unity to adams =  0 1 0;
                            1 0 0]

But, i don't know how to transform orientation in left hand coordinate system to right hand coordinate system.

Please let me know how to convert orientation.. 



c78exg0f1lmn.png
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