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全部文章 / robotics （共13篇）

[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...

2020-07-14

0 482

[AUTONAVx][lec4] PID Control

1D PD control class UserCode: def __init__(self): # TODO: tune gains self.Kp = 1.4 self.Kd = 3.0 self.last_x = 0....

2020-07-14

0 589

[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...

2020-07-14

0 1514

[Robotics: Aerial Robotics] Quadrotor Kinematics 四旋翼无人机运动学

1transformation 2.rotations 3euler angles 4Axis/Angle Representation ...

2020-07-14

0 705

[Robotics: Aerial Robotics] Quadrotor Dynamics 四旋翼无人机动力学

2020-07-14

0 641

[调参算法]Sebastian Thrun

# Choose an initialization parameter vector p = [0, 0, 0] # Define potential changes dp = [1, 1, 1] # Calculate the error best_err = A(p) threshold =...

2020-07-14

0 475

Leg Design for Energy Management in an Electromechanical Robot

author: Gavin Kenneally and D. E. Koditschek

2020-07-14

0 514

Common motion planning algorithms 常用机器人运动规划算法

Common motion planning algorithms 1.Configuration space search Every point in configuration space represents a work state. ...

2020-07-13

0 590

根据 Rodrigues 旋转公式、旋转矩阵以及主轴方向反求旋转角

旋转矩阵与乘法操作组成了一个群。利用群论知识，推出 Rodrigues 旋转公式。其中 w 是单位方向向量，表示旋转主轴方向, R为物体绕此轴旋转theta 角后得到的旋转矩阵。那么,则有直接可以反解出，theta 例如，解得，正弦值为0.6，余弦值为0.8.,

2020-07-13

0 840

[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...

2020-07-13

0 543