Questions tagged [transformation]

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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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2 answers
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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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0 answers
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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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1 answer
58 views

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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1 answer
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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 ...
1 vote
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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 ...
1 vote
1 answer
94 views

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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94 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 ...
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1 answer
55 views

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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2 votes
1 answer
226 views

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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1 answer
306 views

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 ...
1 vote
1 answer
81 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_{...
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2 votes
1 answer
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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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1 answer
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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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1 vote
1 answer
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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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2 answers
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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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2 answers
285 views

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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1 answer
815 views

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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3 answers
209 views

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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1 vote
1 answer
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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 ...
0 votes
1 answer
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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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1 vote
1 answer
45 views

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 ...
0 votes
1 answer
70 views

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 ...
1 vote
1 answer
289 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 ...