The orientation of a body in 3D can be described by three angles, examples of which are Euler angles and roll-pitch-yaw angles. Note that in the MATLAB example at 8:24 note that recent versions of the Robotics Toolbox (9.11, 10.x) give a different result: >> rpy2r(0.1,0.2,0.3)ans = 0.9363 -0.2751 0.2184 0.2896 0.9564 -0.0370 -0.1987 0.0978 […]
Search Results for: roll
A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]
Now we introduce a variant of the Jacobian matrix that can relate our angular velocity vector back to our rates of change of the roll, pitch and yaw angles.
We consider the simplest possible robot, which has one rotary joint and an arm.
The orientation of a body in 3D can also be described by a unit-Quaternion, an unusual but very useful mathematical object. In the MATLAB example starting at 3:48 I use the Quaternion class. For Toolbox version 10 (2017) please use UnitQuaternion instead.
We learn how to use information from three accelerometers to determine orientation.
We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.
We learn how to describe the orientation of an object by a 3×3 rotation matrix which has some special properties.
We learn how to describe the orientation of an object by a 2×2 rotation matrix which has some special properties. Try your hand at some online MATLAB problems. You’ll need to watch all the 2D “Spatial Maths” lessons to complete the problem set.
A number of strategies exist to reduce the effect of these coupling torques between the joints, from introducing a gearbox between the motor and the joint, to advanced feedforward strategies.