# Questions tagged [robotics]

"Robotics is the branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing."

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### Convexity of minkowski space when two triangles collide

I am working on a Python program to show the collision of two triangles by using Minkowski difference. I am subtracting each point from one triangle from every other point on the other triangle. The ...
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### Confused with understanding an equation written with inverse compositional operators

In the paper "Are we ready for Autonomous Driving? The KITTI Vision Benchmark suite" by Lenz and Urtasun (https://www.cvlibs.net/publications/Geiger2012CVPR.pdf) \ The translation error ...
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### What rigid graphs can be decomposed into triangles such that each edge is in exactly one triangle?

Is there a general algorithm/condition to tell if a graph can be decomposed into triangles such that each edge is in exactly one triangle (the graph $G$ has a set of subgraphs such that each subgraph ...
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### PD control with gravity compensation

Given the robot dynamics of the form $$M(\theta)\ddot{\theta}+C(\theta, \dot{\theta})\dot{\theta}+G(\theta)=u$$ where the notations have the standard meaning ($M$ is the inertia matrix, $C$ is ...
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### What is the correct derivation for the Rotation Matrix?

This might seem like a basic question, but I've been stuck on this for a bit. Upon looking at many different sources, I found 2 derivations of the rotation matrix. One of them considers a point at a ...
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### What is the connection between extrinsic and intrinsic rotation?

The image below shows the frames $F1$ and $F2$ as well as the rotation matrix $R1$ which is a 90 degree rotation about the z axis of $F1$: $$R1 = {}^{F_1}R_{F_2}(\pi/2)_z$$ Now let's say I wanted to ...
1 vote
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### 3d rotation representation for multiple turns

Currently I am learning to use quaternions to represent rotations in the 3D world. The task is to make the object rotate for a given angle in certain time. I am now wondering which type of rotation ...
1 vote
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### How to get the form of elements of the Lie algebra?

I'm leaning Lie theory in robotics. My question comes from a paper: A micro Lie theory for state estimation in robotics by Joan Sola et al. at page 4: For multiplicative groups this yields the new ...
1 vote
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### Intuition Behind the EKF Approximation

I'm a student that recently started taking a course on cognitive robotics. The book I use is Probabilistic Robotics by Thrun Burgard and Fox. In the EKF algorithm, we linearized the action model in ...
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### Pseudo Inverse of Jacobian Matrix

I have a script written by someone else that outputs end-effector velocities. I need to transform these end-effector velocities to joint velocities. This requires the pseudo-inverse of the Jacobian ...
1 vote
235 views

### "Fusion" of multiple uncertain estimates with covariance matrices

this is my first post here. I tried my best to follow all the guidelines and to state the problem as clear as possible but should something be sloppy or unclear, I will be happy to update the question ...
1 vote