Equations of the form \(a \cos \theta + b\sin \theta = c\) arise frequently when analytically solving robot kinematic equations. This document and associated MATLAB mlx file illustrate a variety of solutions using trigonometric identities and an algebraic transformation (the
In the formulation for EKF SLAM (RVC chapter 6, appendix H) there is a special case when another landmark is discovered. The state vector update is simple, concatenate the new landmark to the state vector, but the covariance update is
Updated 4 August 2018 There is a lot of confusion around the terms Euler angles and roll-pitch-yaw angles. This stems from quite different, seemingly authoritative, definitions in textbooks and papers. There is no clear right and wrong here, authors are
Precision recall curves are commonly used in robotics to describe the performance of localisers and classifiers. This short article describes the underlying principles using simple examples.
or how to simply/quickly figure out the DH parameters of a serial-link manipulator. This short paper appeared in TRO vol 23, pp 590-594, June 2007. This paper presents a simple and intuitive approach to determining the kinematic parameters of