Skip to main content

Questions tagged [rotation]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
1 vote
1 answer
36 views
+50

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 ...
Mykhailo Seniutovych's user avatar
1 vote
0 answers
11 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 ...
charlie's user avatar
  • 11
0 votes
0 answers
20 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: ...
Carlos's user avatar
  • 111
0 votes
1 answer
37 views

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 ...
Doğukan YILMAZ's user avatar
0 votes
2 answers
50 views

Obtaining rotation and translation matrix from homogeneous transformation matrix

I have following piece of code: ...
RajS's user avatar
  • 101
0 votes
2 answers
56 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 ...
Lotramus's user avatar
0 votes
1 answer
40 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 ...
user3117153's user avatar
0 votes
1 answer
64 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 ...
Anubhav Singh's user avatar
0 votes
1 answer
45 views

Simple takeoff then do yaw rotation

Arming and takeoff work fine but i don't know how to do yaw rotation: ...
ground11's user avatar
0 votes
1 answer
36 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 "...
Unai Granados Ormaetxea's user avatar
1 vote
0 answers
21 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 ...
Jeslin Jacob M.'s user avatar
0 votes
1 answer
815 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 ...
Unai Granados Ormaetxea's user avatar
0 votes
1 answer
132 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 ...
Unai Granados Ormaetxea's user avatar
0 votes
1 answer
76 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,...
Bobby's user avatar
  • 1
3 votes
1 answer
285 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 ...
vmusegameon's user avatar
1 vote
2 answers
84 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 ...
epicninja_gamertriceratops's user avatar
3 votes
1 answer
580 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 ...
Akash Sagar's user avatar
1 vote
1 answer
973 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 ...
Akash Sagar's user avatar
1 vote
1 answer
174 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 ...
simon's user avatar
  • 173
0 votes
1 answer
30 views

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 ...
OlorinIstari's user avatar
0 votes
2 answers
72 views

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 ...
dcfg's user avatar
  • 81
2 votes
0 answers
55 views

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 ...
user30675's user avatar
1 vote
1 answer
139 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 ...
braddo's user avatar
  • 11
0 votes
1 answer
63 views

Finding a point in a new reference frame <modern robotics>

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 &...
eightfingers's user avatar
0 votes
1 answer
192 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 ...
user9155899's user avatar
0 votes
1 answer
49 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 ...
dmr's user avatar
  • 1
1 vote
1 answer
55 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 ...
drsimonz's user avatar
  • 113
1 vote
1 answer
451 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 ...
user avatar
0 votes
0 answers
324 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 ...
Şener Yılmaz's user avatar
0 votes
0 answers
167 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 ...
user2632002's user avatar
2 votes
1 answer
349 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 ...
Benasking7124's user avatar
0 votes
1 answer
50 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
Fishie's user avatar
  • 1
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 have $n$ 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_{...
wojtin's user avatar
  • 21
2 votes
2 answers
443 views

Confusion about Gimbal lock

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 ...
John Rowlay's user avatar
0 votes
1 answer
243 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 ...
Joe Jankowiak's user avatar
0 votes
0 answers
74 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 ...
bob's user avatar
  • 167
0 votes
0 answers
301 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 ...
2012User's user avatar
  • 101
1 vote
1 answer
439 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 ...
Tab's user avatar
  • 11
6 votes
2 answers
764 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 ...
simon's user avatar
  • 173
1 vote
1 answer
176 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. ...
Javi's user avatar
  • 135
0 votes
1 answer
172 views

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 ...
Glycoversi's user avatar
1 vote
1 answer
221 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 ...
Mssm's user avatar
  • 147
3 votes
1 answer
335 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 ...
Slicc's user avatar
  • 133
1 vote
1 answer
418 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 ...
Graham Chapman's user avatar
2 votes
2 answers
197 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 ...
VexedPanda's user avatar
0 votes
1 answer
42 views

How do I calculate components of an angular rate on end effector frame?

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^{\...
Joe's user avatar
  • 69
0 votes
1 answer
3k views

IMU Change of reference frame

Im trying to rotate one accelerometer vector from body frame to ned frame, but i cant found what im doing wrong. For now, im using an online dataset that provides me roll, pitch and heading ...
Bruno Otavio's user avatar
0 votes
1 answer
524 views

How to make two frames relative to each other

I have a Velodyne and camera that both have transformations specified relative to the origin of the robot. The original transformations were specified as yaw, roll, pitch, x, y, z. I wrote a script to ...
Eric Wiener's user avatar
1 vote
1 answer
1k views

Rotate while strafing with mecanum wheels

I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 ...
I am a registered user's user avatar
1 vote
2 answers
101 views

What type of rigid body rotation can best be learned by neural networks?

I am training a reinforcement learning network in simulation for a robot which at the current stage learns Euler Angles to rotate the end-effector based on the actual state. The performance is overall ...
thsolyt's user avatar
  • 11