Does anyone have a source for how the equations for the Euler angles for forward kinematics were derived? They don't seem to match with the included picture for RotX/RotY/RotZ?
y = ATAN2((H62/I8), (G62/I8))
p = ATAN2(-I62, SQRT((I60^2)+(I61^2)))
r = ATAN2((H61/I8), (I60/I8))
Thanks!
Corey
still mystery to me
