# Tag Info

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 ...

### 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 ...
• 4,396
Accepted

### 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 ...

### 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 ...
Accepted

### 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 ...
• 16k
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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 ...
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### Assigning parameters in perpendicular axes: D-H is a must

Here are the step that are in my course for using D-H convention: Step 1 Define the z axis of every joint Step 2 Define the origin frame R0 (O0, x0, y0, z0) Step 3 For i in [1, n] (n=number of ...
• 298
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### geometric meaning of rotation matrices related to different frames

Using the notation you have given, the intuitive geometric meaning of rotation matrix multiplication is most clear when the subscript of the first matrix is equal to the superscript of the second (i.e....
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• 21
1 vote
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### IMU Change of reference frame

The IMU senses deviations from gravity within the inertial frame. Essentially, IMU measures the specific force $f_b$ given in the base frame as: $$f_b = R^{bn}(a_{ii}^n-g^n),$$ where $g^n$ is the ...
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### How to make two frames relative to each other

So it seems like what you want to perform is camera-lidar extrinsic calibration. Seems like you have the translations figured out but not the rotation? You can use one of the already available ...
• 535
1 vote
Accepted

Depending on which matrix you convert to an axis angle representation. If you do it successively, you end up with 3 axis with 3 angles in 3 different frames ($R_0$, $R_1$ and $R_2$). It is trivial ...
• 6,682
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### Shifting through Z axis for Calculating Kinematics?

If I understand your question correctly you are asking about what rules there are for assigning coordinate frame axes compatible with DH parameters? There are definitely rules when assigning ...
1 vote

### How to determine the rotation matrix and translation vector of a fixed LiDAR from the sensor frame to an aircraft's vehicle frame?

It sounds to me like you have a system with an unknown parameter that you want to estimate. That is the purview of parameter estimation literature. If this parameter to be estimated is not changing ...
• 5,362
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### Forward Kinematics Frame Simulation in MATLAB

suppose you calculate the positions of your joints $p_i, i=1\ldots6$ using your homogeneous matrices. The best solution in my experience is to plot the initial configuration e.g. like this: ...
• 189
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### Build (Assembly kits?) the frame of a robot

I mentor several FTC (First Tech Challenge) Robotics Teams. These teams build medium size robots (about 50cm cube starting size). For this size, there are four Building Systems that are the most ...
• 725
1 vote

### Problem with Coordinate Transformation

Turns out I was transforming before interpolating the data, and my interpolation function assumed that the two streams of data were taken at the same time stamps. A simple mistake. So I was comparing ...
• 31
1 vote
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### Assigning parameters in perpendicular axes: D-H is a must

I found this video helpful when learning about the DH method. DH is all about describing the differences between coordinate systems using rotation and translation about/along the X and Z components ...
1 vote

### Assigning parameters in perpendicular axes: D-H is a must

Each parameter is for a simple transform such that when all 4 are combined you go from one frame to the next. It can be helpful to understand each of the 4 simple transforms, and you should do that if ...
• 4,445

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