5 votes
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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 ...
r-bryan's user avatar
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2 votes

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 "...
the big pescado's user avatar
2 votes
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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....
domo_arigato's user avatar
2 votes

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 ...
domo_arigato's user avatar
2 votes
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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 ...
50k4's user avatar
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2 votes

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, ...
Brandon J. DeHart's user avatar
2 votes

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 ...
Emil's user avatar
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1 vote

From euler angles to rotation matrix and vice versa

Assuming that Rotation is scipy.spatial.transform.Rotation, the seq string specifying the ...
danzimmerman's user avatar
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 ...
Wilhelm's user avatar
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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
Markus Buchholz's user avatar
1 vote
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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.
Gabriele's user avatar
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1 vote
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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 ...
mythili charan's user avatar
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 ...
kucar's user avatar
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1 vote
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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 ...
divyansh's user avatar
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{\...
jdios's user avatar
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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 ...
Tully's user avatar
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