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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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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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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Is it possible to control a 5 DOF manipulator in the 6 DOF Task Space?

I am referring to pre-computed torque control techniques that are based on the Task Space dynamic model. Maybe by using pseudo-inverse for the Jacobian and the task space inertia matrix ? Cheers, ...
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42 views

Newton-Euler Inverse Dynamics by Screw

I paste this algorithm from textbook Modern Robotics P294 in chapter 8: This is coordinate invariance of Newton-Euler equations. In the textbook, they use the ...
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76 views

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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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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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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All Joint Angle values not converging to desired set point (I am using Roy Featherstone's Spatial Toolbox)

I need the robot joint angles to become the same as given (desired) joint angles. The kinematics and dynamics (used Spatial Toolbox) are correct and the motor models are realistic too. But out of 3 ...
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Free Multibody Dynamics Software?

I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
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112 views

Two 4 bar mechanism vs stepper motor on each linkage in a 4 DOF robotic arm

I am planning to make a 4 Degree of Freedom(DOF) robotic arm. I have a confusion in mechanical design of the robot. Shall I use two 4 bar mechanisms to reduce the number of actuators? or a stepper ...
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68 views

Doing a project for college for a manned drone theortically only

Weight of the Drone in total will be 240 Kg. It Will be a quad copter drone setup but with 8 rotors(two on each corner) for redundancy purpose. Aim is achieve Thrust/weight ratio of 2. So need total ...
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Quadcopter mathematical model and controller design

if we just examine the translational dynamics (X and Y direction), the dynamics are coupled, So if I want to design a PID controller to control the position, the outcome will be unpredictable because ...
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Jacobian of kinematic IMU Model

I have the following problem: given two Input Vectors $x = \begin{pmatrix}x\\y\\z\\v_x\\v_y\\v_z\\q_1\\q_2\\q_3\\q_4\end{pmatrix}$, $u = \begin{pmatrix}a_x\\a_y\\a_z\\w_x\\w_y\\w_z\end{pmatrix}$ time $...
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666 views

6DOF serial robot (PUMA robot) dynamic model equations

I'm trying to find the most simplified (though accurate) calculations for the dynamic model of a standard 6DOF serial robot (PUMA robot). I found this great paper: https://www-cs.stanford.edu/group/...
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68 views

FPGAs and stepper motors for precision control

I'm looking at this Dexter robot that uses FPGA controllers to get really accurate position and force sensing on a cheap ($2K) arm. They say that the speed of the processor lets them get this accurate ...
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89 views

clarity in understanding the moment of inertia matrix D and Coriolisis and centripetal matrix C as per attached equations

Would appreciate if anyone could help me understand the how if equation 6 and 7 are derived. Helping with any one D22 and C32 would suffice.
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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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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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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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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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96 views

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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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 ...
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What is the difference between The state-space equation and The configuration-space equation

The craig(p.180) states that equations can be made to represent the dynamic equations. The first one being the state space equation. $\tau=M(\Theta)\cdot\ddot{\Theta} + V(\Theta,\dot{\Theta}) + G(\...
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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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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 ...
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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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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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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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1answer
22 views

What is the difference between multi-link flexible manipulators and continuum robots?

I read the review[1] 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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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 ...
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92 views

PID control related to lagrange equation

I'm a beginner in robotics and so far followed the lecture series by Prof. Oussama Khatib and some blogs and papers. currently I'm following this studywolf blog. in the end I plan on building a simple ...
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1answer
280 views

Calculation of inertia values of Ic and Im

In my dynamic model of two wheeled mobile robot, it has the total equivalent inertia, noted $I$, described by the equation below, $I_c$ is the moment of inertia of the DDMR about the vertical axis ...
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651 views

Quadrotor Dynamics: Calculating angular velocity of quadrotor

I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). To do this I need to first implement the dynamics of the quadrotor. According ...
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1answer
151 views

Robot with Double Integrator Model

Does the robot described by Double Integrator Model is holonomic ? Let's say we have a robot with dynamics described by equations \begin{cases} \dot x = v, & \\ \dot v = \frac {1}{m}u \end{...
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224 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?
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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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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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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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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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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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