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[Robotics: Aerial Robotics][quiz]2.1
Question1:旋转矩阵是酉矩阵, 满足 R*R^(T) = I r = [0.212 0.7743 0.5963; 0.212 -0.6321 0.7454;0.9540 -0.0316 -0.2981];r*r' = 1.0001 -0.0000 0.0000 -0.0000 1.0001 0.0000 0.0000原创 2016-04-17 18:50:49 · 5293 阅读 · 0 评论 -
[robot] review rotation
fundamental rotationrotation around a fixed framerotation around an intermediate framerepresentation of rotationsbasic rotations axis-angle notation quaternions Compute Axis-angle based on Rotation Ma原创 2017-05-13 15:13:50 · 838 阅读 · 0 评论 -
[robot]Forward-Kinematics
Forward Kinematicsdegree of freedomuniversal join 万向节grubler’s criterionF=λ(n−j−1)+∑i=1jfi F = \lambda (n-j-1) + \sum _{i=1}^{j} f_{i} where, FF is number of DOF, nn is number of lin原创 2017-05-15 14:25:54 · 2347 阅读 · 0 评论 -
根据 Rodrigues 旋转公式、旋转矩阵以及主轴方向反求旋转角
根据 Rodrigues 旋转公式、旋转矩阵以及主轴方向反求旋转角原创 2017-05-04 15:58:58 · 5776 阅读 · 0 评论 -
[robot]Quaternions and Rigid Transformations
四元数定义单位四元数 这一性质十分有用。 由于多次的旋转矩阵间相乘会导致误差累积,相乘次数越多误差越大。 如果利用单位四元数表示旋转矩阵,相乘后得到另一个单位四元数,这时对这个四元数进行renormalize就可以提高精度。群共轭先进性这一表示形式在机器人学,计算机视觉有着广泛应用。旋转表示方式的总结rigid-transformation inverting rigid transfo原创 2017-05-12 15:28:50 · 1004 阅读 · 0 评论 -
Common motion planning algorithms 常用机器人运动规划算法
Common motion planning algorithms1.Configuration space searchEvery point in configuration space represents a work state.Configuration space search will find a path from initial state原创 2016-09-08 10:32:34 · 4583 阅读 · 0 评论 -
Leg Design for Energy Management in an Electromechanical Robot
Leg Design for Energy Management in an Electromechanical Robot转载 2016-06-17 10:23:34 · 962 阅读 · 0 评论 -
[调参算法]Sebastian Thrun
控制参数调参算法转载 2016-04-20 01:35:19 · 1261 阅读 · 0 评论 -
[Robotics: Aerial Robotics] Quadrotor Dynamics 四旋翼无人机动力学
[Robotics: Aerial Robotics] Quadrotor Dynamics 四旋翼无人机动力学原创 2016-04-18 21:25:06 · 4466 阅读 · 0 评论 -
[Robotics: Aerial Robotics] Quadrotor Kinematics 四旋翼无人机运动学
1transformation2.rotations3euler angles4Axis/Angle Representation原创 2016-04-17 20:04:53 · 4899 阅读 · 0 评论 -
[AUTONAVx][lec3]3D Geometry and Sensors
3D Geometry Rotation matrices and quaternions can simply be concatenated by multiplication.Euler angles use three variables to describe three degrees of freedom and thus are minimal.Angle-Axis can原创 2015-06-02 00:03:28 · 895 阅读 · 0 评论 -
[AUTONAVx][lec4] PID Control
1D PD controlclass UserCode: def __init__(self): # TODO: tune gains self.Kp = 1.4 self.Kd = 3.0 self.last_x = 0.0 def compute_control_command(self, t, dt, x_measu原创 2015-06-02 16:32:41 · 884 阅读 · 0 评论 -
[robot] review forward kinematics
DH parametersfind common normal of Zi Z_{i} and Zi+1 Z_{i+1} .place new XX axis Xi+1 X_{i+1} along this common normal.d d is the depth from the origin of ZiZ_{i} to the common normal along the Z原创 2017-05-19 20:08:47 · 1863 阅读 · 0 评论