Questions tagged [transformation]
The transformation tag has no usage guidance.
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How to use quaternions in ROS2
I have to use some sort of transformations to generate velocity of a model using global coordinates. This code is for making the model go to specific locations (goals). the problem i am facing is that ...
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How to get an axis in camera coordinate system pybullet?
I am using pybullet to render a robot simulation. This robot have 2 joints and hence, 2 corresponding axes of rotation. I know that when I use getJointInfo on this ...
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Standard Notation/Name for Velocity Transformations
I've been looking to see if there's any standard notation for a matrix to convert an end-effector velocity vector $\xi_n^0 = \begin{bmatrix} v \\ \omega \end{bmatrix}$ from one frame of reference to ...
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Move gantry system to detected position in image plane
I have the following simplified gantry system (cartesian robot) that can move in the x axis direction:
My goal is to position the red pointer on top of the target (i.e., I want the real world x-...
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ROS force vector transformation
In my work, I am using force sensors that provide measurements based on their frame pose in Gazebo. Due to the fact that frames are not constructed based on DH parameters, I need to track the tip's ...
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ROS Transformation between two Coordinate Systems
I have a robot manipulator arm and a tracepen (3D tracked device).
I can get data from the tracepen using tracepenPose, which gives me a ...
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Python's all tf frames function in ROS2 only returns some frames
Spining off of 347857#comment that seems ROS1 code, I tried to get all tf frames in Python but the following quick dirty code goes into "No frames" else block, while I verified that tf ...
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Transformation matrix between base and end effector in Staubli
I have a Staubli TX2-140. I want to know if the controller gives the transformation matrix between base link and end effector in the actual robot arm configuration or if I have to calculate it. I ...
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Are the DH parameters in this text wrong?
An example problem in the textbook I'm reading from has the spherical wrist system and the DH parameter table as shown below:
giving us the transformation matrices as below
$$
A_4=\left(\begin{array}{...
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Question about getting global coordinates of lidar point cloud from relative in Webots
I need to do custom mapping of surroundings with lidar using mobile robot in Webots. What I use for that:
GPS for getting robot position.
Compass for getting direction robot.
Lidar for getting info ...
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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 ...
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homogeneous transformation matrix only given sensor extrinsic values
I'm currently dealing with a dataset with points clouds collected by a lidar sensor and radar sensor. Unlike datasets like kitti however, they only provided info about the positions of the sensor ...
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Denso 6DOF Industrial Robot Flip vs NonFlip
Hello my fellow roboticists!
I am working on the forward kinematics of the Denso 6DOF vs087 line of serial robots. In their Users' Manual, they categorize the set of joint configurations by three ...
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Is there a way programmatically transform coordinates (and the derivations) from one frame to another?
I got a question like this:
assuming there are several cartesian coordinate systems (all are 2D or 3D, also if there is a universal solution can covers 1D or 4D or even higher dimensions will be ...
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How to get transform between two fixed frames using a camera
In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
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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 ...
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Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline
I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
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URDF for a real robot
I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
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World and Map Frame for a real robot
I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
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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_{...
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How to use Quaternion from IMU to get the transformation to inertial reference frame?
Im trying to get the Linear Velocity integrating the acceleration from IMu. I know there will be accumulated error due to integration bit before the integration I have to do couple of other steps.
...
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How to do transformation to get correct linear velocity from linear acceleration IMU data?
I have IMU sensor that gives me the raw data such as orientation, Angular and Linear acceleration. Im using ROS and doing some Gazebo UUV simulation. Furthermore, I want to get linear velocity from ...
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Obtaining Heading vector from IMU
First time here.
I'm an electronics engineer who has been tasked with this problem: Given the 4D quaternion representing a vehicle orientation, how do you get the heading vector?
The vehicle ...
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Is the translational vector (positon) in transformation matrices in cm or another unit (MATLAB)?
My transformation matrix gives me, for example, x = 0.06, y = 0.27 and z = -0.04
It does not make a lot of sense to me if this is in cm.
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363
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How can I input joint angles to transformation matrix to get position in matlab?
I am trying to get the forward kinematics for a robot model in matlab (rigid body tree).
I created a 4 x4 transformation matrix from the base to the end-effector using the gettransform() function. I ...
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Calculate transform from different poses
My robot is at a starting pose $s_0 = (x_0, y_0, \theta_0)$ and, while moving, I receive a sequence of motion measurements $[\mu_1, \mu_2, \: ... \: \mu_n]$, where $\mu_i = (\Delta x_i, \Delta y_i, \...
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426
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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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Elegant way to mathematically relate joint positions (without a root/base joint) for easy re-rooting?
I'm pretty new to robotics, but have learned about the tranformation matrices and how to relate relationships between joints using transformation matrices.
I just wonder if there is a system that ...
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181
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Transform Velocity data from sensor frame to world frame
I am new to Robotics and transformation topics. I need help in understanding and solving the below problem.
I have data (surrounding obstacle position, orientation and velocity) which are in sensor ...
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orientation transformation
I have a 6-dimensional vector(x,y,z,roll,pitch,yaw) in frame 1, I want to convert it to frame 2 in order to represent the value in frame 2.
I know that p2=R12*p1 where p1 is the (xyz) in frame 1.
The ...
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velocities transformations between frames
In my system, I have two frames.
I want to convert my velocities(x,y,z,r,p,y) in frame 1 to be represented in frame 2.
Does multiply the linear component and the angular component with the rotation ...
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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 ...
