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Posts Tagged ‘kinematics’

Tricopter: working PD control

The I gain is zero for now, but basic attitude control works. In the video, I first change the attitude by slowly moving the joystick back and forth. At around 0:43, I move the joystick faster and let go to see how quickly the tricopter can stabilize. The P and D gains are a bit […]

Orientation Kinematics with Direction Cosine Matrices

In a sentence, a direction cosine matrix is a 3×3 matrix containing the cosines between each of the 9 possible pairs of axes of two separate Cartesian coordinate systems. In the context of inertial measurement units in robotics applications, a 3D vector could be represented in either the global (earth) or the body (local) frames […]