# Tag Info

Accepted

### Equations of motion in matrix form and energy consumption

Can you set up the problem so that the quantities you care about (e.g. power) are more explicitly represented? Reasoning physically, where could the power go? Accelerating masses, including rotation ...
• 1,271

### Matrix Algebra vs Trigonometry for Inverse Kinematics

I believe it is standard to use "Matrix Algebra" i.e. matrix representation for solving kinematics-related problems (more generally, solving system of equations) rather than "...
Accepted

### 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....
• 904

### Why do we parametrize matrices?

I can't really think of a good example of when to parameterize a system of equations involving rotation matrices, but one general thing we can gain from parameterization regardless is a clear ...
• 904
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 ...
• 6,662

### Multiple Rotations via Matrix Multiplication

Something to remember about rotation matrices is that they have multiple applications (that each has a different role in rigid-body motion): representing an orientation relative to a reference frame, ...

### Equations of motion in matrix form and energy consumption

First, you need to get rid of the damping matrix C as it transforms kinetic energy into heat. Second, you should make the mass matrix as small as possible. (lightweight construction). After that you ...
• 21
1 vote

### From euler angles to rotation matrix and vice versa

Assuming that Rotation is scipy.spatial.transform.Rotation, the seq string specifying the ...
• 576
1 vote

### Rotate sensor frame to body frame

Yes and no. If you look carefully the coordinate system in the first picture does not match with the coordinate system in the aircraft picture. Why? Because the X axis in the first picture is ...
• 700
1 vote

### geometric meaning of rotation matrices related to different frames

I believe your question regarding the geometric meaning of rotation matrices to different frames I explain on Medium
1 vote
Accepted

### Derive the system's dynamics function and the Jacobian Matrix G of Extended Kalman Filter of a differential drive robot on a 2D plane

Here is the closest I could get to my answer. I hope it helps someone in the future. Please do notice that the result matrix is mirrored.
• 163
1 vote
Accepted

### Multiplication of rotation matrix help

after spending 3-4 hours i successfully found the mistake first i multiplied the R3_6 by hand and checked the matrix. it came as same as yours, varying from the angela sodemann's R3_6. after several ...
1 vote

### Matrix Algebra vs Trigonometry for Inverse Kinematics

I may not be the most experienced person to answer your question. However, I wanted to share my experience from a year ago. On an online course I learned about the Screw Theory, which seemed like a ...
• 328
1 vote
Accepted

### calculation sequences when using RPY-transformation vs Euler-transformation

I would like to add to your answer a simple concept i used to understand rotation matrices. So, first you rotate the x- axis. No problem here.R=[x] Second, you rotate the already rotated axes(that was ...
• 26
1 vote

### Questions about time derivative of jacobian matrix

If you use the partial differentiation you can get to that expression as \begin{align} \frac{dJ}{dt} &= \frac{\partial J}{\partial q}\frac{\partial q}{\partial t} \\ \frac{dJ}{dt} &= \frac{\...
• 497
1 vote

### Caculate/Specify the covariance matrix for a omniwheel robot

If you want to start from first principals there's a pretty thorough paper here There's a question here which is related Calculate covariance matrix from x,y,z data And there's some pretty practical ...
• 25k

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