Vector transformation from one coordinate system to another

Hi

I'm performing my thesis on robotics with the UR10 from UR. I'm using the Force Torque sensor which gives me the force applied to it in 3 axes and the torque along these axes in a 1x6 matrix. This vector is referenced to the TCP of which I also get the xyz-coordinates and rotation in respect to it's base.

Can matlab perform the transformation of the vector to the base coordinate system for me? I can't find the commands.

[KSSV]

Have a look here: https://in.mathworks.com/discovery/affine-transformation.html

[Bram de Leege]

But how does it work with Forces and Torques on the sensor? I have the position and orientation of the TCP (X Y Z Rx Ry Rz) in relation to the base, and I have the Force and Torque on the sensor in that point (Fx Fy Fz Tx Ty Tz).

Answer 1

[Tohru Kikawada]

I believe you can do that with the utility functions provided by Robotics System Toolbox like follows. https://mathworks.com/help/robotics/ug/coordinate-systems-in-robotics.html https://mathworks.com/help/robotics/coordinate-system-transformations.html