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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Holonomic constraint forces using Lagrange multipliers

Consider a multibody robotic system with Lagrangian $ L = \dot{q}^{T}M\dot{q} + V $ and equations of motion of the form $$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+A^{T}(q)\lambda+N(q)=0 $$ where $N=\frac{\...
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51 views

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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297 views

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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OpenRAVE “fast-forward” physics simulation?

I am working with OpenRAVE simulator and I am using ODE Physics (OpenRAVE plugin to support ODE). I have a robot in an environment and multiple other objects that are subject to the physics engine. I ...
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261 views

Inertia Tensors in 3D objects for robot dynamics

I'm trying to obtain the dynamics of a 6DOF robot. Firstly, I calculated the combined centres of mass (between each link and the respective actuator) in order to calculate the gravity term, since it ...
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31 views

How to calculate potential enegy of manipulator dynamics?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is two main things one is kinetic energy and the other ...
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22 views

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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22 views

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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58 views

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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38 views

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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91 views

How to interpret and apply results from Inverse Dynamics

I am applying Recursive Newton Euler Inverse Dynamics to a simple two link model. If I apply the result torques and forces using PhysX or Bullet Physics I get unexpected results. The model spins and ...
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77 views

Torque control in eye-in-hand visual servoing

In most papers about IBVS the camera velocity is computed and then used as a pseudo-input for the manipulator. (e.g. this one) Is there any work in which the dynamic Lagrange model $H(q) \ddot q +C(q,\...
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157 views

Dynamics of parallel manipulator

My task is to apply forces to control 3-dof parallel manipulator. Forces are applied to linear actuators, friction is neglected. End-effector of a robot is supposed to follow generated path; for ...
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What are the best approaches and limitations for calculating the Inverse dynamics for a floating base quadruped?

Given a quadruped standing on all fours, or trotting with 2 legs down/2 up, I've seen a few methods of computing inverse dynamics. All derive from centroidal momentum physics, and I think all distill ...
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1answer
37 views

How to calculate potential enegy of manipulator?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is two main things one is kinetic energy and the other ...
0
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0answers
21 views

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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12 views

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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37 views

Quaternionic feedback for for cartesian impedance control

I've seen that there are plenty of ways of generating orientation errors with quaternions. But the one I've seen most often is the following: For example, say that for a quaternion $Q = \{\eta, \...
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24 views

calculate self aligning torque from steering wheel angle

I would like to calculate self aligning torque (SAT) to apply it for a simulating game with Logitech G29 steering wheel, the torque is gonna be inferred from steering wheel angle (plus car motion). I ...
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33 views

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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28 views

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 ...