Questions tagged [kinematics]
Kinematics is the branch of mechanics dealing with the motion of points and objects.
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How to check if end-effector configuration is possible?
Let's say I have an under-actuated manipulator. Then there are end-effector poses in my workspace that may be impossible to achieve. How can I determine if a pose is unreachable?
Mathematically, I ...
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1answer
33 views
Can somebody explain how these forward kinematics matrix equations were formulaed?
Here's the link to the entire answer:
Designing a 5 bar linkage robot: Plot Clock
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1answer
34 views
Using pre multiply or post multipy for rotational matrix to get a new homogenous transformation matrix?
I am confused about how do I multiply the rotational matrix in this case.
I know that both T1 and T2 needs to be multiplied by a rotational matrix but I don't know how to multiply the rotational ...
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Deriving the equations of motion for free-floating spacecraft with a single link robot arm
Note: I had previously posted this question on the Space SE site, but received little/no response. So I've deleted the old post and repasted it here in the hope of getting more responses.
I'm trying ...
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1answer
53 views
Why using screws instead of homogeneous transforms in kinematics and dynamics?
Can anyone give a justification for using screws (twists, wrenches) instead of the traditional approach (rotation matrices, homogeneous transforms)? Even if screws are more compact, the situation gets ...
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1answer
54 views
Finding Joint speeds for each joint of a 6DOF arm (UR10) using the Inverse Jacobian
Background: I have access to a UR-10, 6DOF robotic arm through my school (I'm very new to robotics). I know the desired set of linear speeds that I want in the x,y, z-direction in terms of the end ...
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1answer
36 views
Creating linear end effector motion using joint speeds: Converting tool speed to joint speeds
Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two ...
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30 views
Help to get Jacobian of triangular platform - from center point to apices
I'm creating a simulation of the parallel robot similar to this construction:
Without getting into details - the robot is "closed" with the triangular platform, apices of which are positioned in the ...
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41 views
Best way to actuate J5 (wrist) on 6 axis robot arm?
I'm designing a robot arm with an intended payload of ~2 kg and 60 cm reach. I've been working off of the AR2 arm design, which has the typical turret | shoulder | elbow | wrist roll | wrist ...
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1answer
23 views
Motorised Stage for laser
The problem
I want to be able to move the direction a laser is pointing.
This means I need to have motorised rotation of the laser head in the x direction and in the y direction. I am unsure of the ...
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2answers
77 views
What is the best SE3 library for python?
I am currently googling on this topic but I would like to hear your opinion.
What is the best self-contained SE3 library that offers interconversion between quaternion, rotation vector, ...
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Algorithm for orientation (pan/tilt) towards a moving point
Main Question:
note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++.
I have a camera on the top of my robot's "head" which has pan and tilt ...
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30 views
Orientation problem between Gripper and Object ??
I am working on a pick and place project using ROS & MoveIt!, I wrote my own pick and place functions which generate grasp poses according to the pose of the object and then automatically picks. (...
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2answers
61 views
Help to get robot jacobian from system of implicit equations
I have system of two equations that describes position of robot end-effector ($X_C, Y_C, Z_C$), in accordance to prismatic joints position ($S_A, S_B$):
$S^2_A - \sqrt3(S_A + S_B)X_C = S^2_B + (S_A - ...
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2answers
84 views
Denavit-Hartenberg Exam Question
I am having a bit of trouble with the pictured question:
I am able to do part a and b, however c is proving very difficult. My lecturer never really explained much beyond what is asked in a and b. ...
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Inquiry about Velocity Propagation (theory)
I interpret the saying "linear velocity is associated with a point and angular velocity is associated with a body" as a reference to the fact that when assigning a frame to a body and the body is ...
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95 views
How to find jacobian using kdl that matches with bullet physics jacobian
I am trying to calculate jacobian with kdl (pykdl) and bullet physics (pybullet). With bullet physics I can only find Jacobian of whole robot, but I want to find Jacobian for a kinematic chain. So I ...
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Dimensions of an X Quadcopter frame
I'm writing a paper on the calculations required to design of an X frame Quad copter for any particular load.There isn't a lot of material available to guide me through what actually needs to be ...
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Treatment of euler angles in quadcopter control
In most implementations of quadcopter control systems I've seen, each axis of the quadcopter is controlled independently. For example, to control the rate in the roll axis, the desired output is ...
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33 views
Screw based Jacobian
I am working on kinematics of 5-DOF robot. I already derived geometric Jacobian for position and orientation control.
But for singularity analysis, I require a simplified jacobian. And that can be ...
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1answer
49 views
State space model
I want to design a LQR controller for my two wheeled mobile robot. While designing the controller, I need to find gain, K for the LQR which this required the state space model of wheeled mobile robot. ...
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34 views
Kinematic Kalman filter and state estimation of a robot without wheels
I have a question about the Kalman filter for state estimation, I'm working on the state estimation of a robot, I should be able of tracking its position, my tutor recommended me to make an estimate ...
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57 views
Basics of robotics mathematics, transformation
Calculate transformation which let us to take a item from a table if we know: position of robot base($R$), table($S$) with mounted TV camera($K^{S}$) which send a item's image $D^{K}$. A grip system $...
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1answer
33 views
Metrics for rigid body motions in SE(3)
As SE(3) does not have any bi-invariant metric, what are the available pseudo metrics for comparing two homogeneous matrices for rigid body motions ? In other words, how to compare two dual ...
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1answer
48 views
What is an “actuation state”
The paper A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles by Alonzo Kelly uses the term actuation space.
Feedforward solves the historically significant ...
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1answer
55 views
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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1answer
117 views
What is difference between 2 wheels and 4 wheels and tracked differential mobile base kinematics?
In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations.
but is there really difference between two wheels differential mobile base and tracked/...
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1answer
417 views
calculating differential drive robot ICC position
I don't understand how to calculate the ICC position with the given coordinates. I somehow just have to use basic trigonometry but I just can't find a way to calculate the ICC position based on the ...
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22 views
speed of mobile robot from pose?
I want to get speed (v, y, $\omega$) of my robot from a history of poses (pose - pose_old). Is that even possible for differential drive or holonomic robots. I found forward / reverse kinematics but ...
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75 views
What methods or techniques are used to solve inverse kinematics problems in the industry?
The literature mentions the Jacobian, Newton's method, the cyclic coordinate descent (CCD) method, etc., to solve inverse kinematics problems in computer animation, but it doesn't mention them in the ...
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1answer
157 views
State prediction of vehicle with Ackermann steering geometry using Kalman-Filter
I am trying to have a Kalman-Filter (or Extended-KF) give me positions for a small remotely controlled vehicle with an Ackermann steering geometry (moving on a plane surface). The control commands I ...
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1answer
265 views
Inverse Kinematics 5DOF - general approach - Wrong solution MATLAB
Can anyone name a good source for a general approach (cookbook-like) for the inverse kinematics regarding a 5-DOF?
The paper by De Xu et al. is aiming for a general approach, but it doesn't work for ...
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0answers
43 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 ...
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2answers
545 views
Understanding the Robot Jacobian
Although I have an understanding of what Jacobians are in general and how to calculate Jacobians, I fail to understand how the idea of Jacobian came for use in kinematics and why they are used for ...
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22 views
Rotations: What does “singularity for small rotations” mean?
I understand that Euler angles suffer from Gimbal Lock, which sometimes is referred to as singularity, however I could not understand why singularity for small rotations were stated as disadvantages ...
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2answers
304 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
54 views
Urdf as a way to model dynamics?
Since urdf format serves the purpose of kinematic model but also extends for dynamical properties such as mass,moment of inertia and centre of masses, can it be considered a viable dynamical model of ...
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2answers
111 views
Inverse Kinematics problem formulation (optimization)
Note:Q is a diagonal posituve semi-definite matrix
Why is the IK formulation like that?
It looks like it's trying to find the optimum dq/dt that will minimize the magnitude dq/dt. How is that giving ...
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1answer
172 views
Significance of link length ratio in serial manipulator
I am formulating a problem to optimize link lengths of 3R serial manipulator shown below :
I do not assume any explicit relationship between the link lengths, but in one of the papers (http://www....
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1answer
63 views
Expressing a global point in different frames
I am trying to express a vector defined in global coordinates in different frames using homogeneous transformation matrices.
There are in total 3 frames. Frame 1 lies in the origin and is fixed to ...
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2answers
293 views
Using jacobian of arm robot to calculate transformation matrices?
I have been given a Jacobian for a 3 revolute joint robot.
I need to obtain the origins of each of the joint. Origins of the joints can be obtained once I get $T^0_1$, $T^0_2$, $T^0_3$ and $T^0_4$. ...
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2answers
260 views
How to check reachability of manipulator to a point?
I have written a MATLAB code for inverse kinematics of 3R robotic arm, which returns value of joint angles for given link lengths and end effector position and orientation. But if location of point is ...
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1answer
159 views
Optimization of link lengths for 3R serial manipulator
I am trying to formulate an optimization problem for determining link lengths of 3R manipulator shown in picture below,
Following are the constraints,
Robot arm should be reachable at point x = 100, ...
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1answer
41 views
How can serial manipulator have unique condition number for given end effector position?
I am reading about Condition Number which is considered as measure of manipulability of robotic arm, it is defined as
$$
k = \parallel J \parallel \parallel J^{-1} \parallel
$$
Where,
$$
\parallel J \...
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3answers
134 views
DH Parameters with offset base
I'm looking at a pan tilt (RR) system. I want to define the kinematics between a world frame and the end effector. Every example I've seen looks at the world frame as being at the first joint (the ...
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0answers
89 views
Beginners guide to Inverse Kinematics for biped robots? [closed]
I'm building a LynxMotion Scout biped and believe that IK are the best way to develop an effective gait.
I'm a mechanical design engineer - I currently have minimal skills / experience with ...
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254 views
Design of robot: inverse kinematics doubts + ARTE library on MATLAB
I am designing a robot that I need to model using ARTE library on MATLAB. The robot has 5 DOF with three prismatic and two revolute joints. Works like an inverse gantry robot, with a wrist for ...
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3answers
237 views
Confusion in fixing DH frames
I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint.
Following are the schematics of robot and ...
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1answer
143 views
Holonomics Movement vs Holonomics Constraint
I'm reading Mechanics of Robotic Manipulation by Matthew T Mason and I stumbled upon the concept of kinematic constraints. The book mentioned about two types of constraints: holonomic and nonholonomic ...
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How Can I Connect Phantom Omni Haptic with C++
I have to determine the position of the Phantom Omni's gimbal in real time. Is it possible to know which of its limb is moved during its movement and how?
This has to be in C++
