Felipe Henrique
• Member for 2 years, 9 months
• Last seen more than 1 year ago
• Campina Grande, State of Paraíba, Brazil

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 ...

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 ...

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.

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, ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...