# Questions tagged [dynamics]

Dynamics is a branch of applied mathematics (specifically classical mechanics) concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes.

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### How to calculate Inertia tensor?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is a term I - Inertia tensor . I couldn't understand the ...
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### Maximum value of norm of mass matrix M

How do I compute the maximum values for ||M(q)|| and ||M_dot(q)||, the induced 2-norms, where M(q) is the mass matrix from the standard dynamical model of a robotic manipulator. I have the numerical ...
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### How do I calculate the direction robot is facing, pose from velocity and yaw rate?

I have a simple car robot with four wheels moving relatively slowly (5~10 mph). The robot has a velocity magnitude and yaw rate sensor and the sensor samples about every 0.1 seconds. I want to map the ...
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### How to properly model a non-holonomic system?

I'm trying to model a robot which is composed of a non-holonomic and a holonomic system overall is non-holonomic. Basically it's a robot arm + mobile platform. So far I have found a similar work like ...
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### What is a “vacuous matrix”?

I am currently learning about robotic grasping and came across a matrix $H_i \in \mathbb{R} ^{l_i \times 6}$ which selects $l_i$ components of the relative contact twists and sets them to zero. My ...
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### Is it possible to control a 5 DOF manipulator in the 6 DOF Task Space?

I am referring to pre-computed torque control techniques that are based on the Task Space dynamic model. Maybe by using pseudo-inverse for the Jacobian and the task space inertia matrix ? Cheers, ...
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### Moment of Inertia of a Dumbbell

hope you are all doing well. I am taking a course at Coursera about Robotics and in one of the quizes, I had some problem with a particular question. I passed the quiz (4/5 correct answers), however I ...
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### How to find inertia parameter of payload automatically

I know of several robot manufacturers who can perform automatic inertial measurement for 6 axis robots. Fanuc, for example, moves with axes 5 and 6 each from +180 to -180 °, once with and once without ...
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### What is the dynamic model of a biped robot in double support phase?

I would like to know What is the dynamic model of a biped robot in double support phase? As drawn in Fig.b and Fig.c. I have already known (partly) how to model the single support phase drawn in Fig....
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### How to find inverse kinematic equations for a quadruped robot to make it walk?

I have made a model of quadruped robot (sprawling/spider type and not dog type) in V-rep and now I want to make it walk by using creep gait. (i.e moving 1 leg at a time) As I understand, I have to ...
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### Newton-Euler Inverse Dynamics by Screw

I paste this algorithm from textbook Modern Robotics P294 in chapter 8: This is coordinate invariance of Newton-Euler equations. In the textbook, they use the ...
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### Calculate the inertia matrix of complex robotic mechanism

Motor, irregular rigid body of Different materials Forming a single robotic. For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
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### Determine moments of inertia of a tool experimentally

I've mounted a broom as an effector of the Kuka IIWA. I've configured a tool in the Kuka Sunrise Workbench software with approximative mass and center of gravity. However, when control is started with ...
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### What's the difference between a holonomic and a nonholonomic system?

I was wondering if a 1D point mass (a mass which can only move on a line, accelerated by an external time-varying force, see Wikipedia - Double integrator) is a holonomic or a nonholonomic system? Why?...
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### Doubt linearizing 2D planar quadrotor equation of motion

Equation of motion for 2D planar quadrotor are as follows $\ddot{x} = \frac{1}{m} (u1+u2)sin(\theta)$ $\ddot{y} = \frac{1}{m} (u1+u2)cos(\theta) - mg$ $\ddot{\theta} = \frac{r}{I} (u1+u2)$ How to ...
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### Free Multibody Dynamics Software?

I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
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### Finding Mass/Inertia Matrix of a robot

Hi I am trying to model my humanoid robot. The general EoM is $M(q)\ddot{q}+C(q,\dot{q})+G(q)=U$ I know $M(q)$ is Inertia matrix which depends on joint positions $\textbf{q}$. However, I am having ...
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### Bullet vs SimMechanics: Inverse Dynamics and sensed forces/torques

This question may be a little broad, but I could not find any other information. How accurate are the inverse dynamics functions in SimMechanics compared to Bullet? How accurate are the sensed/...
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### Combining centres of mass and Inertia tensors

I'm trying to build the dynamic model of a 6DOF robot, and the company that has built it, kindly provides a document having the masses, centres of mass, principal axes of inertia and principal moments ...