Questions tagged [coordinate-system]

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How do I convert a set of coordinate and rotation values

I'm an electrical engineer who needs to use a robot for their first time. I have a UR5 that I'm controlling through the rtde interface via Python. It seems that what I'm trying to do must be something ...
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Aligning accelerometer readings with vehicle's frame of reference

I have a device with an accelerometer installed in a vehicle. Its orientation in relation to the vehicle is unknown. So I am looking for a reliable way to align the coordinate system of the ...
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1 answer
54 views

Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline

I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
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1 answer
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How the motor commands are obtained from gcodes?

I have started my research with scara and cartesian robots for drawing robot. The gcodes are converted and given to robot. There are firmware like grbl, marlin, etc for this process. But I couldn't ...
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1 answer
75 views

How to extract robots coordinates using ICP algo

I would like to know How to extract robots localization from the icp or ndt algo, currently I'm using scan registration for this reason
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2 votes
1 answer
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Range of a heading angle [0,2π) or [−π,π)

Consider the unicycle dynamics in 2D plane: $$\begin{array}{l} \dot x = v\cos \varphi \\ \dot y = v\sin \varphi \\ \dot \varphi = \omega \end{array}$$ What is the range of the heading angle $\phi$? ...
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48 views

Finding orientation of object in 3D space

Given the above constellation, I have to find the orientation of object B in the coordinate system of Object C. The objects A and B are fixed to a certain place and the object C can move in freely in ...
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39 views

Compute absolute position of obstacle in V-Rep from proximity sensor measurement

all. I am trying to construct the map of the environment by using the measurements from the proximity sensor in V-Rep. I have absolute position of the robot. So, I know the X1, Y1 coordinates of the ...
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2 votes
2 answers
73 views

Compute path in absolute frame from sequence of measurements

I have a sequence of measurements $\{(x_i, y_i, \theta_i)\}_{i = 1 \:...\: N}$. Each of these represents the new pose of the robot seen from the previous pose, i.e. a measurement $(x', y', \theta')$ ...
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1 answer
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How do you write unit tests for robotics related software?

In my case, I have a library handling 3D input data and want to write tests in order to make sure that my coordinate transform chains for getting the 3D points from A to B are correct. The problem I ...
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1 vote
1 answer
278 views

Conveyor Belt Calibration for a Robot - Rotation Matrix

Short Question: As demonstrated in the image below, how can I calculate the rotation matrix that relates the base coordinate and the rectangle coordinate, given 3 known points P1, P2, P3 on the ...