Questions tagged [matrix]
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12
questions
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1answer
29 views
Derive the system's dynamics function and the Jacobian Matrix G of Extended Kalman Filter of a differential drive robot on a 2D plane
I have found the following answer on the system's dynamics function and what the Jacobian matrix G of the Extended Kalman Filter look like for a 2D robot with a differential drive. Taken from slides ...
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1answer
64 views
Multiplication of rotation matrix help
I'm Watching Angela Sodemann video on 6DOF robots and am following her example, but I'm getting a different answer for my R3_6 matrix and I'm not sure where I'm going wrong. She uses this as her ...
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0answers
32 views
IK Jacobian is always a singular matrix
I am trying to solve an inverse kinematics equation for 6DOF system, 3 rotation and 3 prismatic joints. I am trying to solve using perturbation method, by adjusting each joint and calculating the ...
1
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1answer
54 views
Multiple Rotations via Matrix Multiplication
so I am having an issue understanding why you right multiply for current frame rotation vs left multiply for fixed frame.
Let us say you want to: Rotate about x, then Rotate about current y, then ...
1
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2answers
105 views
Equations of motion in matrix form and energy consumption
I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known:
$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$
In here, $M(q)$, $...
1
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1answer
110 views
Matrix Algebra vs Trigonometry for Inverse Kinematics
What method is “better” for solving inverse kinematics for a robot arm: matrix algebra or trigonometry?
To define “better”:
efficiency/performance vs memory usage
generality (how well can it be ...
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0answers
26 views
How to compute linear speed on scooter without gps and wheel odometry
My project is to be able to compute my linear speed on my scooter only with my IMU.
I have a IMU build with my arduino which is in my backpack.
I want first to compensate the acceleration measurement ...
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3answers
48 views
calculation sequences when using RPY-transformation vs Euler-transformation
I have trouble understanding calculation sequences for RPY-transformation and Euler-transformation.
Let's assume that there are 3 (rotation/translation) instructions.
I will notate transformation ...
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1answer
134 views
The modulus of each columns of the rotation matrix is
The modulus of each columns of the rotation matrix is
1, 0.5, 0.866 or 1.366
which one is correct?
1
vote
1answer
303 views
Questions about time derivative of jacobian matrix
I find that in some robotic toolboxs(e.g. FROST https://ayonga.github.io/frost-dev/index.html) they use
to calculate time derivative of jacobian matrix.
Here is my guess about the reason of using ...
1
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1answer
52 views
Caculate/Specify the covariance matrix for a omniwheel robot
I have an omnidirectional robot (x, y and rotation around z), which I would like to use the SLAM-algorithm from ROS. But the odometry from the robot has a drift, which makes some error. To improve the ...
1
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1answer
186 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 ...
