I am working on the inverse kinematics of my 6 DOF robot arm. It works by specifying a position and the orientation. The orientation is given as a 3 dimensional matrix in world frame. Given this orientation, I need to transfer it to my end effector frame (local frame). At rest, the projection of the end effector frame to the world frame P6_0 is:
| X | Y | Z |
|---|---|---|
| 0 | 0 | -1 |
| 0 | 1 | 0 |
| 1 | 0 | 0 |
When i give an orientation in world frame, I want to find the corresponding orientation in local frame. The way I have tried to do this is by taking world frame orientation and multiplying with the inverse of P6_0. This ends up being wrong in most cases, but it works for some rotations too?