Questions tagged [transformation]
The transformation tag has no usage guidance.
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How to correctly determine the θi Denavit-Hartenberg parameter for a SCARA manipulator?
I am using Tsai's Robot Analysis (The Mechanics of Serial and Parallel Manipulators) and I am working on deriving the homogeneous transformation matrices for the SCARA robot with the assigned frames ...
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1answer
18 views
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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Algorithm for Hand-eye Calibration with static camera brings wrong parameters
I tried a hand-eye-calibration with a static camera and the following alogorithm in Matlab. https://de.mathworks.com/matlabcentral/fileexchange/48696-camera-to-robotic-arm-calibration
The algorithm is ...
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1answer
30 views
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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2answers
23 views
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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1answer
47 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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22 views
Expressing wrench on different location for a flexible structure
I am working on a flexible robotic arm. At a point (c) on its surface a wrench is exerted, causing the deformation of the arm. For rigid bodies it is possible to transform a wrench from one coordinate ...
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1answer
77 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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3answers
43 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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1answer
36 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 ...
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1answer
31 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 ...
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1answer
35 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 ...
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1answer
31 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
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1answer
179 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 ...
