# Tag Info

## Hot answers tagged frame

Accepted

### Confusion in fixing DH frames

The updated image solves the problem. You did not consider the end-effector coordinate frame earlier. Also, the crosses (going into) in the diagrams should be replaced by dots(coming out), because the ...
Accepted

### Quadcopter frame design

A frame in that configuration or any other witch holds the props in a square without being unbalanced would work, the reason that most people do it with cross bars is because the FC batteries and ESCs ...
• 1,909

### Confusion in fixing DH frames

Add a coordinate system that matches the previous coordinate system exactly. The last rotary joint will be the parameter for the next-to-last coordinate system, and the link length will be the ...
• 4,336
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### Not understanting the result of a relative transformation

Wow, this is a spectacularly detailed question, so thanks for that, welcome to Robotics, and I'm sorry you're having trouble with this. The trouble that you're having is that you're inverting the ...
• 14.9k
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### How to rotate a rotation quaternion in the body frame to a rotation quaternion in the world frame?

As pointed out in my earlier comment, this is actually simpler than you may think. Remember, $qs$ and $qr$ are fundamentally different, where the former represents orientation (in reference to the ...
• 217
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### Confusion about order of homogeneous transform multiplication

The mistake is in the second matrix $T_B$ in the last column this column means that you want to transfer the Frame by -2 in it's X direction and by -2 in it's Y direction which in your case is like ...

### Quadcopter frame design

To answer your questions directly, the X-shape is not the only design that will work. There are many variations of frame design around a number of rotors that can range from 3 to (in some cases) 8. ...
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### Can you identify the construction material/system used in the pic?

The original T-slot frame system, was developed in the 80's by item GmbH and was quickly developed into the MB Building Kit System, hence I've always known it as item bar. Since then though, there ...
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### How to use the Homogeneous transformation matrix?

A homogeneous transformation matrix $H$ is often used as a matrix to perform transformations from one frame to another frame, expressed in the former frame. The translation vector thus includes [x,y(,...
• 552

### How to calculate Euler Angles from gyroscope output?

Using the Gyroscope First thing to note is that the gyroscope is reporting angular rates with respect to the sensor. So if the sensor is rotating with some rate, the data it's outputting will be in ...

### How to calculate Euler Angles from gyroscope output?

First you need to integrate the output from the gyro to get the actual X, Y and Z angles. angleX = gyroAngleX + gyroInputX angleY = gyroAngleY + gyroInputY ...

### How to calculate Euler Angles from gyroscope output?

Look into a complementary filter. It isn't the correct way to go out this but it will give you usable data for attitudes around level. It's also worth mentioning that you will not be able to track yaw....
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• 14.9k
1 vote
Accepted

### composition of rotation matrices

I'm not sure what you mean by: $R_A^C$ must for a 2x2 matrix be defined as $[xa \cdot xb , xa \cdot xb ; ya \cdot yb , ya \cdot yb]$ because I don't know where you are getting the names or ...
• 14.9k

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