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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Second-order dynamical systems

I have been reading this paper (https://arxiv.org/pdf/1509.06113.pdf), which is about control of a robotic arm. They learn a mapping from robot state to robot control, where the state is the positions ...
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3answers
469 views

Constrained Second Angle Double Pendulum

If I am trying to model the dynamics of a double-pendulum (on a horizontal plane without the effects of gravity), in which the second angle is constrained to range between values of [-10 deg, 10 deg], ...
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Computation of Coriolis Matrix [closed]

I am controlling a 6-DOF robot. For this, I want to compute the Coriolis Matrix. From my study of examples, I understand there are several ways of going about it. At the moment, I am using the theory ...
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2answers
859 views

Inverse dynamics for robotic arm using Matlab Simmechanics

I am learning Simmechanics Matlab to do inverse dynamics for 4 DOF robotic arm. I read many examples to input motion to revolute joints like through PID, slider gain, sine waves, signal Builder etc. ...
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591 views

holonomic and non holonomic constraints in layman's term

I'm new to robotics and I've been reading some slides online regarding motion planning. Due to my lack of knowledge in mechanical engineering, I'm having a difficult time understanding what holonomic ...
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2answers
437 views

Mathematical modelling of system dynamic on matlab

I want to make a matlab (simulink) control model for the system in the image below. The original pdf is only accessible if logged in Carleton's Learning Management System. How do I get the dynamics ...
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4answers
1k views

Optimal location of the center of mass for an inverted pendulum

I'm building an inverted pendulum to be controlled by DC motors, but I've run across a conundrum. Personal life experience tells me that it's better to have a lower center of mass to maintain balance....
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1answer
118 views

Why do I need an additional moment of inertia term in the cart-pole dynamics equation?

I'm trying to understand the dynamic equations for the cart pole system according to this control tutorial from the University of Michigan, where the angular acceleration equation can be written as $(...
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1answer
907 views

Dynamics of a 3R planar robot manipulator,matrices M(q),C(q,q') and G(q)

The dynamics equation is T=M(q)*q''+C(q,q')*q'+G(q). Can somebody provide me with the M(q), C(q,q') and G(q) matrices of a 3R manipulator with link mass,length and rotational inertia m_i, l_i and ...
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281 views

“Time-varying” and “nonautonomous” dynamical systems and their Lyapunov analysis

It is possible to distinguish the properties "time-varying" and "nonautonomous" in dynamical systems regarding Lyapunov stability analysis? Does it make a difference if the system depends explicitly ...
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1answer
813 views

Parallel axis theorem to determine the moment of inertia

I need to use the parallel axis theorem to determine the moment of inertia of each robotic arm link referred to the joints of the 3 DOF manipulator. The moments of each link's centre of mass are: The ...
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2answers
940 views

What is the bicycle model for a dynamic robot?

I was asked this in a phone interview for a robotics job. Googling has not really helped. I assume it is some sort of state prediction model that can be used in a Kalman filter. Can anyone give me a ...
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4answers
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Dynamic torque simulation for a 6 DOF robotic arm

I am working on a 6 DOF robotic arm(industrial manipulator). I have the basic structural specs (dimensions, weights etc) for the links and joints with me. Basically, I want to simulate both static ...
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2answers
1k views

Damping vs Friction

I am using a physics simulator to simulate a robot arm. For a revolute joint in the arm, there are two parameters which need to be specified: damping, and friction. If a torque is applied to the joint,...
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1answer
2k views

Why do series elastic actuators have more accurate and stable force control?

The other day, somebody was telling me about a robot in their lab, and they mentioned that it has "series elastic" actuators. But after doing a bit of Googling, I'm still not sure as to what this ...
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motor inertia tensor?

In modeling dynamics of a robot ,in which servo motor is adjusted inside the link, there is a need to find inertia tensor of the motor itself,Right? So if it is needed how can i get the inertia ...
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1answer
90 views

Dynamic Model of a Manipulator

I'm stuck on equation 4.30 of page 176 in http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf This equation: $\frac {\partial M_{ij}} {\partial \theta_k} = \sum_{l=\max(i,j)}^n \Bigl( ...
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1answer
81 views

Euler-Lagrange systems, autonomous or nonautonomous?

I was reading an article on Euler-Lagrange systems. It is stated there that since M(q) and C(q,q') depend on q, it is not autonomous. As a result, we cannot use LaSalle's theorem. I have uploaded that ...
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1answer
517 views

Dynamic model of a robot lifted by a balloon (Multibody system)

I'm having a hard time trying to understand how to obtain the dynamic model for a system similar to the image. The balloon is a simple helium balloon, however the box is actually an aerial ...
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1answer
256 views

List of books similar to Thrun's Probabilistic Robotics for robot mechanics and manipulation [closed]

What? Put together here a list of books (like the one for C/C++ on StackOverflow) that are spiritually similar to Sebastian Thrun's Probabilistic Robotics for robotic manipulation and mechanics. Why?...
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2answers
281 views

Do walking robots use accelerometers?

My understanding of walking robots (e.g. https://www.youtube.com/watch?v=xJlkBBdyBYI) is that they use a gyroscope to determine the current orientation of the robot, or each joint of the robot. This ...
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3answers
285 views

Dynamic simulation of compliant elements in quadruped robot

I have a preliminary design for a legged robot that uses compliant elements in the legs and in parallel with the motors for energy recovery during impact as well as a pair of flywheels on the front ...
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2answers
726 views

Where to make changes for simulation project Bullet/Gazebo/ROS/Orocos

I am starting to develop robotics project which involves simulation (and maybe real world programs) of soft-body dynamics (for food processing) and clothes/garment handling (for textile industry or ...
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1answer
227 views

Calculating required torques for a given trajectory using Lagrange-Euler

I have a 2DOF robot with 2 revolute joints, as shown in the diagram below. I'm trying to calculate (using MATLAB) the torque required to move it but my answers don't match up with what I'm expecting. ...
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0answers
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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1answer
533 views

Relationship between earth frame attitude and acceleration for a quadcopter

For a quadcopter, what is the relationship between roll, pitch, and yaw in the earth frame and acceleration in the x, y, and z dimensions in the earth frame? To be more concrete, suppose roll ($\theta$...
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2answers
91 views

Should the therotical parameters match the physical setup constraints when modeling a robot?

I'm working on modeling and simulation of robotic arm, after I obtained the mathematical model of the robot, I used that to implement some control techniques, to control the motion of the robot. The ...
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3answers
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Mathematical Moddeling of Elastic Robots [closed]

We can easily compute the rigid robot kinematics and dynamics. There is many resources, simulators and modelling tools about it. But i couldnt find any of these for elastic robots. Can you suggest ...
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1answer
105 views

Conventional Land Vehicle Dynamic Models for GPS/INS augmentation

I am looking to augment a GPS/INS solution with a conventional land vehicle (car-like) model. That is, front-wheel steered, rear wheels passive on an axle. I don't have access to odometry or wheel ...
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1answer
149 views

The IDE using for programming the Atlas robots

ATLAS Gets an Upgrade - the new video of the Atlas robot is out so I'm curious about the IDE with which they are coding this thing.
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2answers
425 views

Adding an Actuator or Force to a (Featherstone) Articulated Rigid Body Model

I'm working on a project where I need to model a system that is essentially comprised of a series of ball-and-socket joints attached to a base, which is attached in turn to a prismatic joint (rail). ...
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1answer
218 views

Matlab: System simulation with dynamic state matrix / input matrix [closed]

I have the following system: $$\dot{x} = A(t)x+B(t)u$$ $$y = x$$ $A(t)$ and $B(t)$ are actually scalar, but time-dependent. If they would be constant, I could simulate the system in Matlab using: <...
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4answers
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how to implement tracking problem with PID controller

I'm trying to implement the tracking problem for this example using PID controller. The dynamic equation is $$ I \ddot{\theta} + d \dot{\theta} + mgL \sin(\theta) = u $$ where $\theta$ : joint ...
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1answer
465 views

Converting a linear acceleration command into a DC motor command?

I'm constructing a 2 wheels balancing robot which uses a PID controller. I've tuned my parameters on numerical simulations based on a continuous inverted pendulum system so that the simulated ...
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1answer
108 views

What dynamic system could these equations represent?

I have equations of a dynamic system. I need to figure out what this physical system is. The equations are: \begin{align} \dot{x}_1&=bx_1+kx_2+x_3\\ \dot{x}_2&=x_1\\ \dot{x}_3&=\alpha (...
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1answer
259 views

Dynamic tracking precision of UR5/10

I am willing to use a universal robot arm (UR10) in a path following mode. i.e. I have a desired trajectory for the robot's effector and I would like the effector to follow it as close as possible. ...
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3answers
2k views

What is the difference between screw and wrench in rigid body motion?

A screw is defined by a six dimensional vector of forces and torques. It can represent any spatial movement of a rigid body (as written here). But I don't get the following distinction between screw ...
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1answer
145 views

Can inverse dynamics control be regarded as a function?

I know that inverse kinematics ($p \rightarrow q$, p: desired pose of the end-effector, q: joint angles) is not a function because there might be multiple joint angle vectors q that result in the same ...
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3answers
955 views

Compensating for Yaw in Lateral Quadcopter Movement

I'm trying to make a quadcopter move laterally at a certain angle. I've been able to find the proper roll and pitch angles for this (that work with a yaw of 0°); how would I adjust these values to ...
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0answers
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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1answer
594 views

Building a balancing robot with differential drive

I've already built a two wheeled balancing robot using some continuous rotation servos and an accelerometer/gyroscope. I upgraded the servos to some geared DC motors with 8-bit encoders with the goal ...
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6answers
578 views

Effectiveness of a Mobile Robot In Relation To Mass

Do mobile and/or autonomous robots become more or less effective the bigger they get? For example, a bigger robot has bigger batteries, and thus bigger motors, whereas a smaller robot has the exact ...

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