Kinematics and frames

Body frame and world frame, the rotation matrix between them, and the inverse kinematics that turn a velocity you want in the world into the command this drive needs.

Module U2University7 lessons

Start in the simulator
  1. U2.1 Two frames The robot's forward is not the world's forward. Naming the frame is half the work.
  2. U2.2 The rotation matrix Turning a vector from one frame into the other, in two dimensions, by hand and in code.
  3. U2.3 A drive that goes sideways Three degrees of freedom on the floor, and what holonomic buys you.
  4. U2.4 Forward kinematics From the command to the body velocity to the path over the ground.
  5. U2.5 Inverse kinematics The useful direction: a velocity in the world, a heading, and the command that produces it.
  6. U2.6 Go to a point The first useful controller: a vector to the target, straight through the inverse kinematics.
  7. U2.7 Project: a shape in the world Drive a square in world coordinates while the robot spins, which only a holonomic drive can do.