# 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.

158 questions
Filter by
Sorted by
Tagged with
733 views

### Guessing the K matrix gain for the Optimal Control LQR?

I'm are going to create a LQR to control a system. The problem is to choose the Q and R weighting matrices for the cost function. The Q and R matrices are going to minimize the cost function so the ...
292 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 ...
387 views

### Can a state matrix have a row of zeros?

While formulating a state matrix of a system, say a system of a typical cruise controller, \begin{equation} \begin{bmatrix} \dot{v} \end{bmatrix} = \begin{bmatrix} -\frac{b}{m} \end{bmatrix} \begin{...
874 views

### Estimating yaw angle and yaw rate for a frontal vehicle

I would like to know if it is possible (and if it is possible how can it be done) to estimate the yaw angle and yaw rate of a vehicle in front of me knowing the following information: -my speed (x,y,...
278 views

### Computing Yaw angle from position and velocities

I have an object to whom I know the x,y,z position, length, width, height, and x,y velocities. Is there a possibility to compute the yaw angle from this information?
621 views

### 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 ...
382 views

### 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 ...
916 views

### 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 ...
711 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 ...
212 views

### Biped State Space Implementation

Currently I working on a humanoid robot using inverted pendulum model and use LQR for walking stabilizer. Input u is Torque, State x is angle and angular velocity and y output is angle. I got the ...
924 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. ...
463 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 ...
1k 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 ...
150 views

30k views

### 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?...
84 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 ...
548 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 ...
208 views

### Wind flow diagram of a quadcopter

I'm trying to determine the wind flow diagram around a quadcopter when it is in action. I looked up on internet but couldn't find any reliable source. By wind flow diagram, what I mean is when my ...
312 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?...
2k 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....
1k views

### Mass Matrix in Lagrange equation

I want to find the equations of motion of an RRRR robot.I have studied about it a bit but I am having some confusion. Here, in one of the lectures I found online, it describes an Inertia matrix of a ...
286 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 ...
258 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. ...
318 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 ...
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 ($\theta$...