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Questions tagged [rotation]

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7 votes
3 answers
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Rotation matrix sign convention confusion.

In rotation matrix, Why do we rotate the first and third rotation in the opposite direction of the 2nd rotation, this is confusing. Image is attached with this. In this image we can note that for x ...
Naseeb Gill's user avatar
6 votes
5 answers
10k views

Why Euler Angle is set to be in ZYZ order?

We have 3 DOF for rotation in 3D space. So to describe an arbitrary rotation, we need to describe its 3 DOF. Euler angle does this by dividing a rotation in 3 steps, first rotate along the Z axis of ...
hzh's user avatar
  • 181
6 votes
2 answers
804 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
6 votes
3 answers
2k views

Generate transformation matrices for rotating around a object?

How do i compute all transformation matrices which places a robot endeffector at the shell of this sphere, with the end effector pointing toward the object in the center. I know at all time how far ...
test's user avatar
  • 111
4 votes
1 answer
8k views

Using pre multiply or post multipy for rotational matrix to get a new homogenous transformation matrix?

I am confused about how do I multiply the rotational matrix in this case. I know that both T1 and T2 needs to be multiplied by a rotational matrix but I don't know how to multiply the rotational ...
shafiyyah's user avatar
4 votes
1 answer
737 views

Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots

I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics. The implementation I am ...
Sam Hammamy's user avatar
4 votes
1 answer
4k views

How to rotate a rotation quaternion in the body frame to a rotation quaternion in the world frame?

I have a sensor (3 axis gyroscope) which can rotate and measure angular velocity in 3 dimensions (aligned with the sensor). I know what its current orientation is with respect to the world frame. Call ...
badmistersquirrel's user avatar
4 votes
2 answers
1k views

How to calculate heading more accurately using dead wheels?

I am trying to figure out a more accurate way to calculate the change in the heading of a robot. I have two small omni wheels on either side of the robot facing forward and one on the right side ...
Tomahawk2001913's user avatar
3 votes
2 answers
1k views

How to compute the orientation error between two 3D coordinate frames?

For my master thesis in robotics I have to compute the orientation error between two coordinate frames, called E and H. Their orientation is expressed through rotation matrices (3x3) with respect to a ...
Xela95's user avatar
  • 33
3 votes
1 answer
302 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
3 votes
1 answer
341 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
3 votes
1 answer
613 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
3 votes
3 answers
2k 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 ...
asdfghjkl's user avatar
3 votes
1 answer
579 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 ...
ejalaa12's user avatar
  • 298
2 votes
3 answers
151 views

A closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ w.r.t $\textbf{R}$

Is there a closed-form solution of $\textbf{R}\textbf{R}_1=\textbf{R}_2\textbf{R}$ with respect to $\textbf{R}\in SO(3)$? $\textbf{R}_1$, $\textbf{R}_2 \in SO(3)$ are given. Added: I tried holmeski'...
Chanoh Park's user avatar
  • 1,577
2 votes
2 answers
690 views

Explanation for exponential coordinate of rotation

From figure above, suppose a three-dimensional vector $p(0)$ is rotated by an angle $\theta$ about the fixed rotation axis $\omega$ to $p(\theta)$. Here we assume all quantities are expressed fixed ...
npkp's user avatar
  • 123
2 votes
2 answers
340 views

Dealing with fixed transformations while solving inverse kinematics

I am trying to solve inverse kinematics (using the Jacobian pseudoinverse method) for a 7 DoF arm, but because of the way the robot is mounted, the base frame does not coincide with the frame of the ...
HighVoltage's user avatar
  • 1,106
2 votes
2 answers
6k views

What is the torque/force required to rotate the base of a robot arm?

Take a look at the following simple example robot arm: I want to know the torque required on that bottom motor to rotate the arm. Since it's not exactly rotating directly against gravity like the ...
JDS's user avatar
  • 429
2 votes
5 answers
3k views

Shield IMU from magnetic interferences

I experienced some drifting when coming near to magnetic fields with my IMU, so I wondered if it is possible to completely shield the IMU from external influences. Would this be theoretically possible ...
Averius's user avatar
  • 21
2 votes
4 answers
2k views

Most accurate rotation representation for small angles

Assume that I have a rigid body for which I know that it can rotate with respect to a global reference frame (which is considered fixed and already given) for only a few degrees of angle, so I can ...
jpro's user avatar
  • 129
2 votes
1 answer
364 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
2 votes
2 answers
206 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
2 votes
1 answer
111 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 ...
Mykhailo Seniutovych's user avatar
2 votes
2 answers
883 views

Mechanical odometer with digital output

I would like to mechanically measure the distance a kids electric ATV traveled. The ATV will not be used with kids but as a mobile robot instead. It has a common rear axle for both rear wheels which I ...
Kozuch's user avatar
  • 643
2 votes
2 answers
76 views

Compute path in absolute frame from sequence of measurements

I have a sequence of measurements $\{(x_i, y_i, \theta_i)\}_{i = 1 \:...\: N}$. Each of these represents the new pose of the robot seen from the previous pose, i.e. a measurement $(x', y', \theta')$ ...
Federico Taschin's user avatar
2 votes
1 answer
1k views

How can I attach an arm to a double-flat drive stepper motor?

This is my first robotics experience, outside of one class 10 years ago. I've been Googling this question for about an hour but I can't find an answer! I'm using a ROHS Step Motor 28BYJ-48 (with an ...
CreatedByBrett's user avatar
2 votes
1 answer
6k views

Get Yaw from quaternion

I found a formula online to extract yaw from a quaternion like so: ...
Phrixus's user avatar
  • 165
2 votes
1 answer
7k 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 ...
Grant Dare's user avatar
2 votes
1 answer
186 views

SE3 composition operator gives unexpected results

Given Data and Algorithm I have a stream of SE3 poses supplied by a basic wheel encoder odometry through ROS message passing system. Odometry publishes data in traditional to ROS ENU coordinate frame ...
Dmitri K's user avatar
  • 131
2 votes
1 answer
105 views

integrating perfect rate gyro data (noiseless)

Having a perfect gyro (with no noise/drift or bias), the gyro produces angular velocities in the form (wx, wy, wz) in rad/sec. I would like to convert the rate gyro readings (which are expressed in ...
User.t's user avatar
  • 31
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
2 votes
2 answers
481 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
2 votes
0 answers
23 views

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). ...
user22846's user avatar
1 vote
2 answers
2k views

How to reduce the small free rotation/movement of a stepper motor shaft?

I was successful in running a 28BYj-48 stepper motor with 4096 steps per revolution. I am happy with the result. But there is a free movement of the motor shaft itself - you can move the motor shaft ...
NH Evan's user avatar
  • 11
1 vote
1 answer
1k views

Convert Twist from frame B to frame A [closed]

(full disclosure: this is homework) I have a twist expressed in frame B: $\zeta_b = \begin{bmatrix}1\\3\\-2\\0\\-2\\4\end{bmatrix}$ And a general transformation matrix: $g_{ab} = \begin{bmatrix}-0....
Greg Schmit's user avatar
1 vote
1 answer
399 views

Solving Inverse Kinematics with unknown orientation

This may be a very basic question, but I haven't had much success finding an answer. I'm currently trying to solve the inverse kinematics of a 3-RRR Planar kinematic arm, whose purpose is to move ...
AClassyEngineer's user avatar
1 vote
1 answer
144 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
1 vote
1 answer
461 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
1 vote
2 answers
109 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
1 vote
1 answer
426 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 ...
Moayad Hani Abu Rmilah's user avatar
1 vote
1 answer
323 views

Rotate coordinate frame using 2-axis inclinometer angles

How to rotate coordinate frame (transform point or vector coordinates) using angles from 2-axis inclination sensor if both X and Y angles are non-zero?
AlexDarkVoid's user avatar
1 vote
3 answers
472 views

Forward Kinematics with matrices

From the image, I would like to find out how joint 1, 2 and 3 can be computed by using forward kinematics? (Assuming a theta value was given) I understand that to get point 3 to origin (...
tester's user avatar
  • 135
1 vote
1 answer
786 views

Orocos KDL issue with Rotation (matrix) - Inverse Kinematics

I have a problem with the Orocos IK solver, especially with the KDL::Rotation matrix input. I try to call my KDL IK solver with a normal vector and a rotation. If I use the example values for the ...
R.Devel's user avatar
  • 35
1 vote
1 answer
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 ...
Akash Sagar's user avatar
1 vote
1 answer
176 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
1 vote
1 answer
56 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
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
1 vote
1 answer
179 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
1 vote
1 answer
225 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
1 vote
1 answer
432 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