Questions tagged [matrix]

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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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48 views

Hi. I really need help on this robotics coordinate practice problem

I have got stuck on this problem for 2 days. I think I got part a down but as for part b-d. I am not sure what all those parameters (theta 1, d_2, theta t) are refering to since the schematics is not ...
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21 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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14 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
122 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?
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1answer
146 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 ...
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21 views

When a permutation matrix is desired for transforming camera frame to world frame?

When dealing with rectified images, why would the inverse of a simple permutation matrix $$P = {\begin{bmatrix} 0 & -1 & 0 \\ 0 & 0 & -1 \\ 1 & 0 & 0 \end{bmatrix}}^{-1}$$ ...
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43 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 ...
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1answer
143 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 ...