Concept

Coordinate frames and transforms

You might say: frames, tf, poses

A coordinate frame is an origin and three axes attached to a link, sensor or object. A rigid transform combines rotation and translation to express one frame or point in another.

What it does

Frames let a camera measurement become a gripper, base or map measurement by chaining transforms.

Ask

In which frame, at what timestamp, is this number expressed?

Trouble

A wrong axis, transform direction or timestamp makes the same point appear in the wrong place.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 3 §3.3One convenient way is to attach a reference frame to the rigid body and to develop a way to quantitatively describe the frame’s position and orientation as it moves.
2. Richard Hartley and Andrew Zisserman, Multiple View Geometry in Computer Vision, Ch. 1 §§1.1–1.2A point in Euclidean 2-space is represented by an ordered pair of real numbers, (x, y).

Use it on your project

teardown-apply: hold "Coordinate frames and transforms" (coordinate-frames) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal