Questions tagged [transformation]

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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 ...
Ayush Singh's user avatar
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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 ...
Anmol Gupta's user avatar
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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 ...
LadyGodiva2's user avatar
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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-...
Optical_flow_lover's user avatar
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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 ...
CroCo's user avatar
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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 ...
Florian Schneider's user avatar
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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 ...
IsaacS's user avatar
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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 ...
Unai Granados Ormaetxea's user avatar
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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}{...
Abhishek A Udupa's user avatar
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2 answers
179 views

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 ...
RavenCloud's user avatar
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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 ...
user30675's user avatar
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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 ...
jeb2's user avatar
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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 ...
Max Eisenhardt's user avatar
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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 ...
furynerd's user avatar
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1 answer
149 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 ...
Lisa9892's user avatar
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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 ...
user2632002's user avatar
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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) ...
Dmitri K's user avatar
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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? ...
robo1996's user avatar
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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 ...
robo1996's user avatar
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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_{...
wojtin's user avatar
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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. ...
bob's user avatar
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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 ...
bob's user avatar
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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 ...
Pioneer83's user avatar
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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.
Veronique's user avatar
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2 answers
363 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 ...
Veronique's user avatar
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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, \...
Federico Taschin's user avatar
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3 answers
426 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 ...
3XBULL's user avatar
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1 vote
1 answer
43 views

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 ...
user7400474's user avatar
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1 answer
181 views

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 ...
KK2491's user avatar
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1 vote
1 answer
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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 ...
user12719330's user avatar
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2 answers
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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 ...
user12719330's user avatar
1 vote
1 answer
383 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