Questions tagged [rotation]

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Undo pitching effect of camera when pose (y-axis) is near 90 degrees?

I am using KITTI odometry dataset whereby the camera's axis is pointing X (east), Y (down) and Z (north). It also contain the frame to frame poses of the camera (first pose is fixed as the map frame). ...
2
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2answers
345 views

Finding correct RPY for approaching a known point on a plane

I have a robot with 6 DOF that I want to use to grab a hanging sheet at a specific point near its edge. The grip needs to be perpendicular to the edge and co-planar with the point of course. I have ...
1
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1answer
39 views

Rotating a lever with a small servo

I'm trying to rotate a lever link to gently "offload" a load using a servo. Here's a drawing: Here, the red is a lever, yellow pivot and black is the load. To offload, the lever needs to be turned 90 ...
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0answers
11 views

Moment of Inertia of a planar rotation link with a 6-DOF base

I'm interested in analytic calculation of a moment of inertia of a robot's arm in the following situation. Let us assume the following: Stationary reference frame $ \{b\} = \{X_B, Y_B, Z_B\}$ and ...
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0answers
45 views

How to get RPY(Roll, Pitch, Yaw) from directional cosines from a single vector?

I'm trying to find the pose of an 3D vector in terms of RPY. Let's say the two end points of the vector is P0(x0, y0, z0) and P1(x1, y1, z1). So the centered vector I get is V(Vx, Vy, Vz) = P1 - P0 = (...
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0answers
20 views

MPU6050 Gyro rotaion always around Y axis

I am using an MPU6050 IMU. I did a small experiment having Z-axis pointing upwards. 1. Rotate 90deg around Z-axis (yaw) and back to the original position 2. Rotate 90deg around X-axis (roll) and back ...
0
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1answer
58 views

Rotating NED to ENU

I have an IMU in NED of which I need to rotate to ENU to conform with ROS. I know its a roll of pi and a yaw of pi/2 but what ...
0
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1answer
105 views

What are wheel ticks and wheel impulses?

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle ...
0
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1answer
243 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 ...