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.

23 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
3
votes
0answers
445 views

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{\...
2
votes
0answers
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 ...
2
votes
0answers
48 views

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 ...
2
votes
0answers
283 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 ...
1
vote
0answers
27 views

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 ...
1
vote
0answers
26 views

Ground based path generation from RGBD camera

How does one generate a trajectory for a ground vehicle using an RGBD camera? For a drone it's simpler since you're not constrained by having to move on the ground but it's not clear to me how ...
1
vote
0answers
33 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 ...
1
vote
0answers
24 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 ...
1
vote
0answers
81 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 ...
1
vote
0answers
50 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 ...
1
vote
0answers
100 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 ...
1
vote
0answers
80 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,\...
1
vote
0answers
167 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 ...
0
votes
0answers
24 views

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 ...
0
votes
0answers
21 views

Looking for a course (online?) RE: systems with XY stages

Using XY stages is common in many fields: 3D printing Genetics instruments semiconductor lithography automated microscope slide imaging See for example https://www.asml.com/en/technology/lithography-...
0
votes
1answer
38 views

How to calculate center of mass with a prismatic joint

Suppose we a 1DoF planar robot with only 1 prismatic joint (for the sake of the example). The prismatic joint can extend the link or shrink the link. Suppose the length of link 1 is a, and suppose ...
0
votes
0answers
18 views

I’m not sure how to calculate the torque of a tank chassis what values do I need?

So I plan to build a robot-tank thing. It’s max weight will be 35kg and it’s driving wheel will have a radius of 0.05m. Those are the two values I know for certain and there will be no gears between ...
0
votes
0answers
45 views

Path curvature in kinematic bicycle model

I'm trying to develop an understanding of the control law for longitudinal and lateral control for self driving cars. While doing so, I came across the kinematic bicycle model which is used to derive ...
0
votes
0answers
26 views

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 ...
0
votes
1answer
70 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
votes
0answers
31 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 ...
0
votes
0answers
36 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 ...
0
votes
0answers
44 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 ...