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# Questions tagged [kinematics]

Kinematics is the branch of mechanics dealing with the motion of points and objects.

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### Forward kinematics of spherical parallel manipulators with revolute joints

I found an article that can help in my investigations. Forward kinematics of spherical parallel manipulators with revolute joints The problem is solved for the following system of vectors, which is ...
17 views

### Finding Jacobian matrix using the DH parameter table and relative transformation matrices

Let's say we have a three revolute joint robot with the following DH parameter table: Where the last row corresponds to the transformation between the last joint frame and the end-effector frame. We ...
65 views

### Do I need to use Inverse Kinematics if I have the coordinates of all joints?

So I have the positions of all the joints (x,y,z) of a robot arm. I need to calculate the angles of the joints to feed them to another similar robot arm. I cannot get the angles from the robot I need ...
76 views

### How do I calculate the direction robot is facing, pose from velocity and yaw rate?

I have a simple car robot with four wheels moving relatively slowly (5~10 mph). The robot has a velocity magnitude and yaw rate sensor and the sensor samples about every 0.1 seconds. I want to map the ...
14k views

### Position Control vs Velocity Control vs Torque Control

Please can somebody explain to me the difference between Position Control, Velocity Control, and Torque Control? Specifically, I am thinking in terms of a robot arm. I understand that position control ...
8 views

### FlexiTimer giving errors in servo motion

I am working on a quadruped bot, spiderbot and I am trying to make a creep gait using Forward kinematics however, for some reason my code stops working after the execution of the line - ...
63 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 ...
85 views

### Angular velocity in terms of quaternions

Im reading Theory of Applied Robotics, 2nd edition by Jazar, specifically section 7.1, example 207 on page 390. The author is trying to express angular velocity by unit quaternions. Starting from ...
11 views

### Extract Coriolis matrix from Coriolis*q-dot vector multiplication

I have been using matlab to do some robotics simulation. I am able to Create the forward kinematics with transformation matrices Create the jacobian matrix Find joint velocities Create the ...
338 views

### Finding correct RPY for approaching a known point on a plane

I have a robot with 6 DOF that I want to use to grab a hanging sheet at a specific point near its edge. The grip needs to be perpendicular to the edge and co-planar with the point of course. I have ...
112 views

### 3D Inverse Kinematics Jacobian Construction

I am following this article: Overview of Jacobian IK From the link, an example says: O is a pose vector which represents the initial orientation of every joint And following this, it gives an ...
68 views

### Robotic Manipulator 3-RRP v2

I recently asked a question about a 3-RRP manipulator but the only answer didn't work for my robot. I would describe the manipulator as an arm that rotates around the shoulder over the x-y axis, the ...
26 views

### Calculation of error, based on camera images

I am trying to measure the precision error of a gripper that is mounted to the flange of a 6 DOF industrial robot. The gripper-design is rather complex, therefore we would like to make sure it is ...
772 views

### Numpy alternatives for linear algebra and kinematics in python?

Are there any decent python numerical package libraries besides numpy for python? Numpy relies on gfortan which itself must be compiled correctly for your platform to avoid hidden/insidious numerical ...
41 views

### How do I add a tool to an inverse kinematic solver

This may be a very basic question, however I am having great difficulty to find the right answer. I have a functioning python code for the inverse kinematics of a 6 axis UR Robot. For any ...
13 views

### Gyroscope signal when mounted on a deflated tire

Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
50 views

### Converting from Modified to Standard Denavit Hartenberg

This is probably a noob question. But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows ...
21k views

### Computing the Jacobian matrix for Inverse Kinematics

When computing the Jacobian matrix for solving an Inverse Kinematic analytically, I read from many places that I could use this formula to create each of the columns of a joint in the Jacobian matrix: ...
136 views

### 3-RRP manipulator robot

I'm having some issues with a planar manipulator I have to deal with. The first two moves are rotational and the third one is a prismatic one. The shoulder and elbow move around the X-axis, while the ...
75 views

### The Jacobian resulted from Screw method is different from analytical one (Example Inside)

I am currently solving a kinematics example that asks for the Jacobian. However, when I solve it using the Screw method I get different results from the analytical method, The example is kinda hard to ...
11 views

### About kineto-statics duality of the closed chain

I can't understand the content from the book "Robotics Modelling, Planning and Control", page 151. Suppose that there is a manipulator which has a closed chain. And Let $\textbf{q}_a$ actuated joint ...
16 views

### KUKA KR6 R900 sixx (Agilus) robot - Space frame screw axis

how do I find the space (and body) frame screx axis (s1..s6) of this agilus robot?