Questions tagged [coordinate-system]
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9
questions
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votes
1answer
34 views
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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0answers
23 views
Expressing wrench on different location for a flexible structure
I am working on a flexible robotic arm. At a point (c) on its surface a wrench is exerted, causing the deformation of the arm. For rigid bodies it is possible to transform a wrench from one coordinate ...
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1answer
36 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
2
votes
1answer
51 views
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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0answers
31 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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0answers
18 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 ...
2
votes
2answers
60 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 $(x', y', \theta')$ ...
0
votes
1answer
36 views
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 ...
1
vote
1answer
185 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 ...
