# Questions tagged [transformation]

The tag has no usage guidance.

16 questions
Filter by
Sorted by
Tagged with
34 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 ...
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 ...
184 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 ...
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 ...
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.
89 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, \...
48 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 ...
32 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 ...
32 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 ...
12 views

### Denavit-Hartenberg parameters for ViperX 250

I have a 5 jointed robotic arm, ViperX 250 https://www.trossenrobotics.com/Shared/Xseries/ViperX-250.pdf, for which I have calculated the Denavit-Hartenberg parameters. The parameters I have ...
28 views

### 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. ...
44 views

### 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 ...
26 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 ...
10 views

### 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 ...