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# Questions tagged [rotation]

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### Two axis inclinometer rotation matrix

The goal is to use a dual axis inclinometer to calibrate for pedestal mislevel when computing the azimuth and elevation pointing angle of the pedestal when pointing at a long distance target. Given ...
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1 vote
40 views

### IMU Orientation from madwick filter is stucked between -+ 90°

I'm currently trying to estimate orientation from imu data under ros2 humble. I've created a ros2 node "imu_publisher" which get imu data, compute orientation using madwick filter and ...
43 views

### joints gimble lock issue

I am trying to create a mecanum wheels by attaching each pinion as a joint to a wheel in URDF. For this, I have rotated the pinion 90 degree(pitch) and 45 degree(yaw). When i am doing these rotations ...
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127 views

### Can Euler angles cause gimbal lock when you always rotate along body or fixed frame axes?

I am learning about Euler angles, and read about gimbal lock. I read that representing rotations with Euler angles can always cause gimbal lock. All the examples that I saw on the internet show an ...
1 vote
20 views

### webots, 4 wheel robot's heading angle by Rotation field

I'm using Webots R2023b. I created a 4-wheeled robot following the tutorials (https://cyberbotics.com/doc/guide/tutorial-6-4-wheels-robot). However, I'm having difficulty obtaining the heading angle ...
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36 views

### How to Calculate the Correct Orientation (rx, ry, rz) When Rotating a Pose Around an Axis in 3D Space in Python

I created a function to compute the rotated pose around a given rotation axis. Here is my code: ...
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### Can I change the axis of rotation of the joints from urdf file?

I have a custom robot that is exported from fusion 360. In fusion I have no problems about the rotation of the joints. However when I export it to ros2 and use setup_assistant of the moveit2. The axis ...
61 views

### Obtaining rotation and translation matrix from homogeneous transformation matrix

I have following piece of code: ...
• 121
84 views

### Rotation matrix to Twist command

I want to implement the J+RRT algorithm for which I need to use the Twist command to navigate the robot in Euclidean space. First I calculate the difference in rotation matrices from the end-effector ...
63 views

### What determines a robots euler rotation order?

I know Fanuc robots use the XYZ rotation order, ABB uses ZYX and some robots use the ZYZ rotation order. What actually determines this order? is it the way the frames are setup on the DH table? Or ...
74 views

### How to rotate a Homogeneous Transformation Matrix about multiple axes?

I am working on a forward kinematics problem where I have already calculated the relevant transformation between the fixed base frame and the end effector frame of the robotic arm using Homogeneous ...
45 views

### Simple takeoff then do yaw rotation

Arming and takeoff work fine but i don't know how to do yaw rotation: ...
45 views

### Calculate target orientation

I have the following setup: I want to move the "Drill" frame to "Target1" with the opposite Z axis direction. I have calculated translation between "Target1" and "...
1 vote
23 views

### Regarding rotation of the box when affected by two non equal side forces

We have created a workspace, where we have a box ‘B’ (massive) with two side boxes(left and right) of negligible size and mass attached to the line connecting the centre of Mass of the main box B. The ...
1k views

### From euler angles to rotation matrix and vice versa

I want to check if I am using the correct functions to transform from euler angles to rotation matrix and viceversa. I am using XY’Z” convention of euler intrinsic angles. As example, I have the ...
150 views

### From Euler angles to Rotation matrix Staubli

I want to know the transformation matrix between End effector and Robot base (FK). Staubli gives me x,y,z and Rx,Ry,Rz. Those three Rotations are Euler angles? How could I transform those Euler angles ...
102 views

### How are these equivalent rotation coordinates related?

I am using a 6 DOF UR5 robotic arm. I am successfully sending it commands in the [X,Y,Z,RX,RY,RZ] format. When I read back these coordinates, I find that the X, Y, Z values are the same but the RX, RY,...
314 views

### How do we derive the loop closure equations?

Looking to derive these equations. I don't intuitively understand what it means to take a cos of two independent angles added together. Nor do I understand why all of these are equal to 0. It is hard ...
1 vote
85 views

### Siciliano et al. Rotation Matrix Notation

I'm reading Siciliano et al.'s Robotics: Modeling, Planning and Control, and I'm confused about the notation used in definiting rotation matrices. On page 46, they state If $\textbf{R}_i^j$ denotes ...
683 views

### Calculation of IMU offset for Placement of Inertial measurement unit away from centre of mass

I am working on a 6DOF IMU that contains a 3-axis accelerometer and a 3-axis gyroscope. I am building a project to plot the position and orientation of a vehicle/dirt bike in a 3d plane. However, the ...
1 vote
1k views

### Center of gravity offset for accelerometer and gyroscope readings

I am working on a 6DOF IMU that contains a 3 Axis Accelerometer and a 3 Axis Gyroscope. I am building a project to plot the position and orientation of the turret/cabin in a crane in 3D space. The IMU ...
1 vote
180 views

### Rotate sensor frame to body frame

I'm working with a lsm303agr from ST. Here is the frame attached to the chip Here is the body frame So I have some doubts about the rotations, before to fuse data ...
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### Get a rotation to align a vector, n with another vector, a and be able to rotate around a

Let us say I have a rigid body, B. Let us say I have a normal vector n. And let us say I have another direction vector a. I need ...
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### geometric meaning of rotation matrices related to different frames

Consider the following rotation matrices: $^{a}R_{b}$, $^{a}R_{c}$ and $^{a}R_{d}$ in which $^{x}R_{y} \in SO(3)$ describes the orientation of a generic frame $y$ wrt the coordinates system of ...
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### transform IMU reference to robot reference

I have an IMU rigidly attached to the end effector of a robotic arm. The goal is to compare the orientation of the IMU to the orientation of the robot arm. The 9-axis IMU data is used in a sensor ...
1 vote
163 views

### Using an IMU to determine the axis about which it is being rotated

I've got a 6DOF IMU and have, using some trig and and a few references such as ADI's app note: https://www.analog.com/en/app-notes/an-1057.html successfully implemented some Arduino/C code to ...
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From modern robotics chapter 3.2 and figure 3.7, how do we obtain $p_{b}=\begin{bmatrix}1 & -1 & 0\end{bmatrix}^{T}$ from $R_{b}$ and $p_{a}$? Because R_{b}*p_{a} =\begin{bmatrix}-1 & 1 &... 0 votes 1 answer 205 views ### Get rotation of IMU data snapshot I received snippets of data of an IMU with 9 DoF in motion. For these I wanted to get their rotation by angles relative to the earth frame. My goal is to receive ... 0 votes 1 answer 53 views ### End effector rotates 180 degrees when trying to set orientation with direction vector I want to orient the robot endeffector using a direction vector that I calculate myself. The robot will always start from the same position with the endeffector pointing straight down. I already have ... • 1 1 vote 1 answer 57 views ### Can you increase resolution/accuracy by mechanically averaging two actuators? I'm working on a project using hobby servos to drive a revolute joint, and the servo mechanism doesn't seem to respond when I command a motion of less than about 1 degree. I want to increase the ... • 113 1 vote 1 answer 504 views ### How do you rotate positions from ENU-frame to body frame? If positions are in the local frame of ENU (or ECEF - either works), how do you rotate that to the body frame of the device? Logically, I thought that I could use the pitch, roll, and yaw angles of ... 0 votes 0 answers 353 views ### Mapping IMU readings from body frame to navigation frame I'm trying to combine IMU displacements with the time of flight sensor readings in order to navigate through the indoor environment with a non-linear Kalman filter variant. In the graphic below, I ... 0 votes 0 answers 169 views ### 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 ... 2 votes 1 answer 382 views ### What is the consquence of Gimbal lock? I'm learning about Gimbal lock and I understand the reason why that happened. But I don't understand why that is a big deal because it only affect this rotation. After this rotation finished, we have ... 0 votes 1 answer 51 views ### Why do we parametrize matrices? I'm learning about rotation matrices in class and one of the topics mentioned to parametrize a matrix. What do we need to do this? For further reference: https://www.youtube.com/watch?v=Y8gB7nvtmrU 1 vote 1 answer 127 views ### Relative rotation and a new reference frame as the rotation of the first object this is my first post on this forum I haven$IMUs which outputs its rotation their matrices in the$XYZ$world coordinate system$w$. I would like to use multiple IMUs$n$, such as$n_{1}, n_{2}, n_{...
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I am trying to understand exactly what is happening when Gimbal lock occurs. I have read many explanations now which provide the high-level idea, in that Gimbal lock occurs when two axes are aligned ...
259 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 ...
78 views

### How to get odometry from propeller rotation signals knowing that they can rotate to maximum value?

m trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small ...
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321 views

### How to measure an optical encoder resolution and gear ratio?

I've bought a DC geared motor with an optical encoder. The vendor didn't provide specification. I can read MITSUMI M25N-2R-14 2241 and 25GA-370-12V-330RPM on the motor. There are some pages on the ...
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1 vote
492 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 ...
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855 views

### How to avoid gimbal with Quaternions

I'am working with an LSM6DSO32, so I'am starting with Kalman filter, everything works but with Euler angle I got gimbal lock I think... But if my pitch angle approach to 90° my roll angle jump and I ...
• 173
1 vote
185 views

### Can the tangent space vector of SO3 be interpreted as Euler angles?

I want to compare the rotation of two cameras with respect to a common frame. Let's call these R_World_Cam0 and R_World_Cam1. ...
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### What type of electric motor and speed-controlled circuit do I use to bounce a hanging, 5 pound weight? (it's for a Halloween decoration)

I'm trying to make a roughly 5 pound, hanging halloween decoration bounce on a string from about 1-3 times per second, preferably at variable speeds if I can. I've looked up a simple DC motor circuit ...
1 vote
233 views

### Inertial frame's angular velocity expression

I'm following a robotics course on coursera which talks about aerial robotics and more specifically quadrotors. I'm trying to understand the logic behind the relationship between the angular velocity ...
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367 views

### Calculating rotation matrix efficiently

I'm trying to efficiently calculate the vertical offset of each corner of a rectangular base. I have an accelerometer mounted in the middle of the base, ADXL345. The steps I have taken, and seems to ...
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1 vote
446 views

### How to handle robot movement close to coordinates x=0 with atan2

I am working on controlling a robot to various points on an x,y grid. The robot starts at random locations and I can control it's velocity and angular velocity. Currently, I am using the technique of ...
218 views

### How can I draw a line using rotation of two circles?

I’m building a drawbot with a self imposed constraint that it’s method of motion is just two rotating disks. One holding the paper and one holding the pen. However, the math to calculate the right ...
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I’ve helped develop the forward kinematic chain for a two-axis gimbal. The Denavit-Hartenberg parameter table for the kinematic chain is given below. $\theta$ $\alpha$ $r$ $d$ $90^{\circ}$ \$90^{\...