The reference frame is a 3 axis system that are usually connected by a body, an object or a system that can be used to acquire information or transmit information. For example a camera can be a reference frame, when you record a video, you are recording from a fixed point of view, the lenses of the camera, which has a mean direction. We can use the object frame (the camera) as reference for a robotic arm that gets information from it, so the camera becomes our reference frame.
Main concepts:
- Reference Frame.
- Position.
- Orientation.
Reference Frames Examples:
- Camera Reference Frame
- Multi joint hand fingertips frame
- Virtual world reference frame
Everything has a reference frame in our robotic task.
Main task in robotics: Represent a reference frame of an object into another object’s reference frame, that can be the world reference frame, the camera’s, sensor’s, …