4
votes
Accepted
How do you write unit tests for robotics related software?
Your statement about the need to reimplement the same feature in order to test it could be applied for all software which needs to be unit-tested and it is not specific only to your problem. A unit ...
- 6,652
2
votes
Accepted
Conveyor Belt Calibration for a Robot - Rotation Matrix
A general approach would be to construct a so called axis-angle representation and convert that to a rotation matrix representation.
On order to do so, one could start with a normal vector of the ...
- 6,652
2
votes
Accepted
Range of a heading angle [0,2π) or [−π,π)
No difference at all although φ∈[−π,π) is much more reasonable and intuitive. It is just a matter of system definition.
- 1,527
2
votes
How do I convert a set of coordinate and rotation values
What you are looking for here is homogeneous transformation matrices. The purpose of these matrices is to seamlessly integrate rotation and translations into one matrix that acts as a change of ...
- 884
2
votes
Conversion of roll, pitch and yaw from ENU to NED
ENU = East, North, Up
NED = North, East, Down
So, if you have x_ENU, y_ENU, and z_ENU, then:
...
- 16k
1
vote
How are these equivalent rotation coordinates related?
They are written in the angle-axis representation. In the angle axis representation, the direction of the 3d vector gives the axis of rotation (rotates counter clockwise around it). These two ...
- 128
1
vote
How the motor commands are obtained from gcodes?
The main role of the CNC controller is to "convert" G Code to motor commands. This is a highly complex function and many books have been written about this.
As a top level overview, the G-...
- 6,652
1
vote
Accepted
Compute path in absolute frame from sequence of measurements
Assuming frame $0$ is the 'absolute frame', if we let $^j P_i$ be the $i^{th}$ position/orientation expressed in the $j^{th}$ coordinate frame, then what you're asking for is the sequence
$$\{(^0P_i)...
- 231
1
vote
Compute path in absolute frame from sequence of measurements
Each step can be represented by its transformation matrix,
$$
\begin{bmatrix}
\cos{\theta'_{i}} & -\sin{\theta'_{i}} & x'_{i}\\
\sin{\theta'_{i}} & \phantom{-}\cos{\theta'_{i}} & y'_{...
- 619
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