# Questions tagged [force]

Quantity causing acceleration in the state space of a mechanical system.

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1answer
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### Compute vector of attraction plus repulsion forces in a 2D force field mapping

I'm developing a force field mapping of a two-dimensional space to move a robot to a goal avoiding obstacles. My problem is that I don't know how to move it using attraction force and repulsion ...
0answers
34 views

### Force Controller for robotic manipulation

I want to implement a force controller but I don't understand some concepts here. I saw some books that say the output torque command of the force controller and the impedance controller will be ...
1answer
29 views

### Force controller with feedback issues

I'm implementing a force controller on a robotic arm, where the force input comes from torque sensors in the joints. I have calculated the cartesian force on the end-effector from the joint torques, ...
1answer
238 views

### How to limit large acceleration and jerk from PID controller?

I am trying to control a robotic arm with force input. The output of the force sensor is filtered, and fed through a PID controller to command the end-effector velocity. However, the robotic arm has ...
2answers
168 views

### Jacobian of a 6DOF arm

I have a robot with 6 DOF. I read a lot of tutorial on how to compute the Jacobian, but usually all examples are for planar robots with 2DOF. I don't understand how can I get the Jacobian of a 6 DOF ...
1answer
84 views

### How to calculate effort/torque values of a joint

I have a robotic arm with 6 DOF. For each joint, I get get the Joint Wrench, which is composed by the force and torque of the parent and child links of the joints. In other works, for joint 1 I can ...
1answer
128 views

### DJI E310 Thrust Coefficient

I am reading Denis M. Filatov et al.'s paper "Parameters identification of thrust generation subsystem for small unmanned aerial vehicles" (https://www.semanticscholar.org/paper/Parameters-...
1answer
90 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 ...
0answers
73 views

### From a linear force actuator that spans multiple links and joints to the equivalent motor torque

I am programming/using a rigid body joint-space dynamics solver for robots in which I want to implement linear force actuators between links with their equivalent torque sources that are 'spanned' by ...
1answer
48 views

### Will this have more or less lifting strength

Bit of an engineering question. If a snake robot is 100 cm long, and every 10 cm is another motor. Would the robot lift more weight, the longer/more motors attached to it.. or is lifting ability ...
2answers
2k views

### What is the torque/force required to rotate the base of a robot arm?

Take a look at the following simple example robot arm: I want to know the torque required on that bottom motor to rotate the arm. Since it's not exactly rotating directly against gravity like the ...
3answers
454 views

### how to find maximum force of a robot joint

I want to know if there is any equation that calculates the maximum force of a robot joint. The force that we should not exceed. For example in human leg, if we apply a big external force to the knee,...
2answers
208 views

### What are the best ways to transmit force through air efficiently?

I am taking part in a robotics competition, where the challenge is to create a pair of robots which successfully navigate a series of obstacles. However, the rules state that of the two robots, only ...
2answers
110 views

### Magnetic, low insertion force connector

I'm building a robotic tea-maker/watchdog robot and have a power problem. I would like to be able to have the robot approach a socket and insert the power cord of a cheap immersion heater (120V, 300W, ...
1answer
465 views

### Verifying motor selection calculations

I'm trying to select a brushed DC motor for a project. I tried following the advice on sizing electric motors, mentioned in this question, but a few details were missing, and I'm unsure if I properly ...
0answers
30 views

### Unilateral Torque Constraint on the foot-ground interface

I was studying the basics of legged locomotion and came across the unilateral force and torque constraints at the foot-ground interface. I understood the implication of the unilateral constraint on ...
1answer
49 views

### Calculating the force of this system

My native language is not English, so I don't know all the specific terms you may expect me to use. I apologize for that. Anyway, I have a motor and three connecting rods (in French, bielles). So ...
2answers
223 views

### Is there a rule of thumb for actuator torque overhead?

When installing a servo or other actuator, I measure the force needed to perform whatever action is needed and find an actuator that can generate more than the necessary force. However, I recently ...
0answers
145 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 ...
1answer
161 views

### Wind force impact on torque mechanical arm

I've got an arm attached to a shaft. The arms dimensions are 40x5 inches the arm weights about 10 lbs. If I have a wind acting on the side of the arm, how would I translate the wind force into torque ...
0answers
49 views

### Force measurement on grab bars [closed]

I recently start a project to measure the force on a bathroom grab bar. The force/load is applied by the person who need to the grab bar for assistant. What I want to measure is the load against the ...
2answers
9k views

### How do I calculate the required loop frequency for a servo controller?

I have a motor which drives a string connected to a load cell. I would like to implement a closed loop controller to control the load applied by the motor to the string. How do I go about determining ...