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Representation of Frames in 3D

How to represent the coordinate frames in three-dimensional world space? In this article, the learner shall be introduced to the fundamentals.
In the three-dimensional world space, the frames utilized are orthogonal to each other.

Similar to the corner of the wall in your house or office, in addition to horizontal axes X and Y, a vertical component Z-axis is introduced to capture motion in all three directions.

The representation of the position in the 3D world follows the [x y z] vector format while the orientation is given as, in addition to yaw, roll and pitch. The roll rotation is around the X-axis and the pitch rotation is around the Y-axis. Both the rotations follow the right-hand rule.

These rotations are generally represented as [theta_x, theta_y and theta_z].

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Introduction to Application of Robotic Tools

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