Felipe Henrique
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3-RRP manipulator robot
1 votes

I answered a similar question DH parameters for a PPP arm, take a look for a detailed answer. If your first joint is the origin, you start the parameters by looking to the next joint. In this case, ...

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How to find inverse kinematic equations for a quadruped robot to make it walk?
3 votes

On manipulators, Direct Kinematics is the group of equations where, based on the motor's positions (the joint positions, normally in radians), you'll find the spacial (normally Cartesian) pose of the ...

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Convert Vehicle coordinates to World coordinates for positioning
1 votes

As nionios said, the GPS gives you latitude and longitude in global coordinates, while odometry gives the difference between two coordinates, normally using encoders in the motors and/or IMU. You can ...

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Does Vehicle Yaw angle measures same at every point on it? If not, how to translate yaw rotation to COG of the vehicle from different point?
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0 votes

The best way to solve this is to position your IMU onto the Car's COG, so you can associate directly the IMU information to the COG. In case that's not possible (design choices, space, etc), two ...

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How to get transformation between a camera and a CNC plotter?
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0 votes

In this case, the Z value and rotation value are constant, so it's a 2DOF system. You can do the same calibration as with the 6DOF and you'll find a homogeneous matrix as usual. The difference here ...

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RGBD Camera Eye in Hand Calibration
1 votes

When you get the pose of an object using a camera, you get that position in relation to the camera frame. If you want that pose in relation to the robot frame, first you have to find the pose ...

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Question about programming approach of a dog like quadruped robot
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I believe you should start from below and up. First, validate the inverse kinematics for the 4 legs you build. Remember that small mistakes accumulate over time, so it's best to ensure minimum error ...

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vision guided robotic arm always required 6d pose of object?
1 votes

What you're trying to do is also known as Visual Servo. You could do it only with the position of the object, but it's normally not done this way because without the rotation information, you cannot ...

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Finding correct RPY for approaching a known point on a plane
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Using Euclidian Angles normally can be confusing because the order of rotation interfers directly on the final rotation. As said above, Universal Robot series uses a specific order of rotation that ...

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Image based visual servoing for quadrotor forward flight
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A Feature normally is not a single pixel and it's normally defined by a structure of some sort, for example the distance between the Markers. In the case of IBVS, you have to identify these features ...

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Line following robot mathematic model
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2 votes

The robot you're trying to model is known as a Two Wheeled Differential Robot. It's easy to find specific kinematic models for it. You can start here or here.

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DH parameters for a PPP arm
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2 votes

The DH parameters comes from the common normal between two consecutive Z axes. Every time you're in doubt about the DH parameters, you can follow common guidelines between two consecutive axes. In ...

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