# 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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### what is difference between twist and classcial velocity

In ch 8.2.1 Classical Formulation in the book Modern Robotics by Frank C. Park I know some remarks about this formula.The origin of coordinate system is coincidence with the mass center of the rigid ...
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### perplexity about ch8.2.1 the linear dynamics, in the book <modern robotics>

From previous chapters, I think I have understand the twist, it is about the angular velocity and the linear velocity, the difference is that linear velocity is not one fixed point in the body but is ...
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### How to obtain generalized force due to moment?

I understand how to obtain the generalized force due to linear force, but the following picture gives the formula 2.82 to obtain the generalized force due to moment, how to demonstrate it pictures ...
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### Spherical Parallel Manipulator Lagrangian problem

I faced a very serious problem and I urgently need the help of specialists in robotics, mechanics, physics and mathematics. I am trying to derive equations of motion from the Lagrangian of a spherical ...
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### Cartesian Stiffness Matrix and Complieance Matrix of Spherical Parallel Manipulator

In the article https://www.sciencedirect.com/science/article/abs/pii/S0094114X14000020, I came across the construction of a Cartesian stiffness matrix. On page 14 I see the components of the moments ...
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### how to find the kinematic and dynamic model of the mechanism

enter image description here 5 links 4 revolute joints find the kinematic and dynamic model ,link 3 should be horizontal with ground and one end of link 1 and 5 there are sliders enter image ...
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### Multidimensional obstacle avoidance in ODE. Part II

Multidimensional obstacle avoidance https://math.stackexchange.com/questions/4146255/multidimensional-obstacle-avoidance-in-ode For some time, I studied this question more closely and came to the ...
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### Can workspace of a manipulator change after considering its dynamics?

As per my knowledge, the workspace of a manipulator can be determined if one knows the forward and inverse kinematics. But is it possible that the workspace of the manipulator can change after ...
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### What do I need to know about the dynamics of an industrial robot?

Apart from kinematics, what do i need to know about the dynamics and other things of a robot in order to calculate the angles of the joints for positions of the end effector exactly? that means: if i ...
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### Modeling of Robots

There are mainly two approaches for controlling robots (mobile robots and static robots): 1) working with kinematic equations, controlling joint or wheel speeds , 2) working with dynamic equations and ...
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### Moment of Inertia of a planar rotation link with a 6-DOF base

I'm interested in analytic calculation of a moment of inertia of a robot's arm in the following situation. Let us assume the following: Stationary reference frame $\{b\} = \{X_B, Y_B, Z_B\}$ and ...
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### What is the difference between multi-link flexible manipulators and continuum robots?

I read the review on flexible manipulators, the modeling method of multi-link(even if single-link) flexible manipulators seems very different from the continuum robots like OctArm(multi-section), ...
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### Determination of the operational space dynamic model (Task space)

I am trying to implement a hybrid Force/Motion controller for a quadruped. To do that I first need the Inverse Dynamic Model of the robot in Operational Space. I found a lot of resources on how to ...
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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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### 4 wheeled differential wheeled (skid-steer) robot steering problem

My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
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### Can knowledge of robot's dynamics help in motion planning?

Some planners assume a kinematic model of the robot for example diff drive or omni directional etc. while generating motion plans for the robot. Can knowledge of the dynamics of the robot help ...
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### Angular Velocities of CoM in Global Coordinate

The block diagram of the robot is shown as above. Here, $\phi$ is the angle between $X_v$ and $X_0$ (Yaw angle of the robot), and $\psi$ is the angle between $Z_b$ and $Z_v$ (pitch angle of the robot'...
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### Cannot get 3 DOF bicycle model to run correctly

I'm trying to simulate a vehicle using a dynamic bicycle model but I cannot seem to get it working. If I set a constant steering angle the lateral velocity grows exponentially and creates impossible ...
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### Why do we need coriolis and centrifugal forces when it comes to the dynamics of a robotic arm?

So we all know (and love) the typical dynamic equation of a robotic arm: $$M(q) \ddot{q}+C(q,\dot{q})\dot{q}+G(q)=\tau$$ Where M is the mass matrix, G is gravity and C is Coriolis and Centrifugal ...
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### Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms. ...