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Questions tagged [frame]

The tag has no usage guidance.

1
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1answer
31 views

How to determine the rotation matrix and translation vector of a fixed LiDAR from the sensor frame to an aircraft's vehicle frame?

I am using a fixed 3D LiDAR sensor on a small aircraft. The vehicle has a GPS/INU to calculate its own position and orientation. I do not know the exact offset of the LIDAR from the center of the ...
0
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1answer
27 views

Forward Kinematics Frame Simulation in MATLAB

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz. So the size of the total T matrix is 4*4*1000. How can I ...
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0answers
48 views

Equivalence of Alias and Alibi interpretation of Rotation Matrices [closed]

Let's consider two right handed frames $\mathcal R_A$, with coordinate axes $i_A$, $j_A$ and $k_A$ and $\mathcal R_B$, with coordinate axes $i_B$, $j_B$ and $k_B$. Defining the rotation matrix $R^A_B$ ...
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0answers
161 views

Degrees of Freedom in Affine Transformation and Homogeneous Transformation

I understand that a 2D Affine Transformation has 6 DOF and a 2D Homogeneous Transformation has 8 DOF. However, how can I identify what those independent paramters are? If we consider Euclidean ...
1
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1answer
52 views

Not understanting the result of a relative transformation

I have the following set of coordinate frames (translations are not important in this case): $w$, the reference frame. $l$, a "left" reference frame. Rotated $-20\deg$ around $Y_l$ (axes $Y$ of frame ...
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0answers
12 views

Dimensions of an X Quadcopter frame

I'm writing a paper on the calculations required to design of an X frame Quad copter for any particular load.There isn't a lot of material available to guide me through what actually needs to be ...
0
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1answer
150 views

Rotation composition When using Kalman Filter

I am implementing a Kalman Filter for the following situation. I have a camera set in a room that can detect the position and orientation of a marker (ARUCO) in the room. Therefore I have the ...
1
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1answer
454 views

How to rotate a rotation quaternion in the body frame to a rotation quaternion in the world frame?

I have a sensor (3 axis gyroscope) which can rotate and measure angular velocity in 3 dimensions (aligned with the sensor). I know what its current orientation is with respect to the world frame. Call ...
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2answers
31 views

How can I protect my props from being damaged?

I have a quad copter and I'm developing my own flight controller to run the code and testing it on the quad. As you all must be knowing, this means a lot of broken propellers. I thought of making a ...
4
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3answers
286 views

Confusion in fixing DH frames

I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint. Following are the schematics of robot and ...
0
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1answer
103 views

Build (Assembly kits?) the frame of a robot [closed]

I am fairly knowledgeable about robotics programming, and stuff like that; but, I am a total ignorant about how to actually "build" a robot. My question is: What materials do you recommend to build ...
2
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1answer
58 views

Problem with Coordinate Transformation

So I have a quad with a black-box estimator on it. The black box estimates the pose of the quad. I also have a Vicon system that I'm using to get the ground truth pose of the quad. I'm trying to ...
1
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3answers
572 views

Confusion about order of homogeneous transform multiplication

This is my first post here, so if I unknowingly vioated any rules, mods are welcome to edit my post accordingly. Ok, so my problem is that following Craig's conventions, I can't seem to find the ...
1
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0answers
59 views

How unique are Quarternions and what about the sign?

I want to track a robot's orientation in space and wanted to choose quaternions for their many advantages. However I have a few questions that I haven't found to be solved anywhere. The method I use ...
1
vote
3answers
830 views

Assigning parameters in perpendicular axes: D-H is a must

So I was given a course assignment to assign frames and write D-H parameters for this robot using only 5+1 frames (with Frame $\{5\}$ at $P$ and Frame $\{0\}$ at $O$). And I assigned them like this: ...
4
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1answer
422 views

Gyro measurement to absolute angles

Let us assume we have a gyro that is perfectly aligned to a global frame ($X,Y,Z$). From what I know the gyro data give me the angular rate with respect to the gyro axis ($x,y,z$). So let's say I ...
3
votes
1answer
1k views

How to use the Homogeneous transformation matrix?

I am trying to understand how to use, what it requires compute the homogenous transformation matrix. I know 2 points from 2 different frames, and 2 origins from their corresponding frames. I how ...
0
votes
1answer
81 views

composition of rotation matrices

I am the moment learning about rotation matrices. It seems confusing how it could be that $R_A^C=R_A^BR_B^C$ is the rotation from coordinate frame A to C C to A, and A,B,C are different coordinate ...
2
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5answers
524 views

Quadcopter frame design

Quadcopter frames seem to consistently follow the same X design. For example: I'm curious to know why that is. It certainly seems like the most efficient way to use space but is it the only frame ...
4
votes
2answers
11k views

How to calculate Euler Angles from gyroscope output?

I am using a tri-axis accelerometer and tri-axis gyroscope to measure the linear acceleration of a body. I need to get the orientation of the body in euler form in order to rotate the accelerometer ...
1
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1answer
425 views

Simple vector problem, Weight vector components & sine and cosine of rotation?

I have the quadcopter in the photo below. It has rotate theta degrees about the -y axis. I want to get the ...
5
votes
2answers
152 views

Can you identify the construction material/system used in the pic?

What's the name of the "big meccano" used in the photo below to construct all the cabinets and racks? It appears to be an aluminium cut-to-length system of 4-way rails. I've seen it used many times ...