Vector transformation from one coordinate system to another

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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.
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Bram de Leege
Bram de Leege 2019년 6월 9일
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).

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Tohru Kikawada
Tohru Kikawada 2019년 5월 5일
편집: Tohru Kikawada 2019년 5월 5일
I believe you can do that with the utility functions provided by Robotics System Toolbox like follows.

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