# Questions tagged [kinematics]

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

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### Calculate position of differential drive robot

How do you calculate or update the position of a differential drive robot with incremental sensors? There is one incremental sensor attatched to each of the two differential wheels. Both sensors ...
9k views

### How can the inverse kinematics problem be solved?

The forward kinematics of a robot arm can be solved easily. We can represent each joint using Denavit–Hartenberg transformation matrices. For example, if the $i^{th}$ joint is a linear actuator, it ...
3k views

### What are the advantages of using the Denavit-Hartenberg representation?

When one wants to model a kinematic chain and in particular define the frames attached to each body, it is common to use the Denavit-Hartenberg parameters. What are the advantages of this ...
3k views

### jacobian of Abb irb140 robot

Can someone please help me with the jacobian matrix equations for Abb irb140 robot. Or an easy way by which I can derive it given the DH parameters. I need it to implement some form of control that am ...
2k views

### Why do we generally prefer DH parameters over other kinematic representations of robot arms?

I am specifically interested in DH parameters versus other representations in terms of kinematic calibration. The best (clearest) source of information I could find on kinematic calibration is in the ...
2k views

### How much accuracy could I get position tracking with a 3-axis accelerometer and gyro sensor, and compass, and how would I do it?

Given a 12' x 12' field (4m x 4m), a reasonably cheap 3-axis gyro sensor and accelerometer, and compass, I plan to design a device capable of tracking its position to sub-centimeter accuracy for a ...
4k views

### Forward Kinematics/D-H parameters for perpendicular joint axes

I am trying to compute forward kinematics of the Kuka youBot using DH convention: http://www.youbot-store.com/youbot-developers/software/simulation/kuka-youbot-kinematics-dynamics-and-3d-model The ...
3k views

### How to calculate the right and left speed for a tank-like rover?

I am trying to control the Rover 5 robot using an Android app with a touch-based joystick control in the app UI. I want to calculate the speed of the left and right motors in the rover when joystick ...
3k views

### How to design a differential steering mechanism?

I want to give my robot a differential mechanism for the system of turning and steering. Considering the case of turning a right-angled corner, the robot will achieve this by following a gradual ...
191 views

### Angle to a circle tangent line

I want to simulate the detection of a moving object by a unicycle type robot. The robot is modelled with position (x,y) and direction theta as the three states. The obstacle is represented as a circle ...
13k 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 ...
20k 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: ...
1k views

### Velocity Model Motion in Matlab (Probabilistic Robotics)

I want to implement the velocity motion model in Matlab. According to Probabilistic Robotics page 124, the model is as following \begin{align*} \hat{v} &= v + sample(\alpha_{1} v^{2} + \...
2k views

### Solving Inverse Kinematics with Gradient Descent

I am trying to implement my own inverse kinematics solver for a robot arm. My solution is a standard iterative one, where at each step, I compute the Jacobian and the pseudo-inverse Jacobian, then ...
2k views

### With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
1k views

### Hand Eye Calibration Solver [closed]

I have a rig for which I have a pretty good estimate of the static transformation between the camera and a joint based off of the CAD. It has some errors though and I was hoping to fix it by doing a ...
2k views

### Jacobian-based trajectory following

I would like to control my 7 DOF robot arm to move along a Cartesian trajectory in the world frame. I can do this just fine for translation, but I am struggling on how to implement something similar ...
747 views

### Robot arm reachability of a pose in Cartesian space

Given a set of robot joint angles (i.e. 7DoF) $\textbf{q} = [q_1, ... , q_n]$ one can calculate the resulting end-effector pose (denoted as $\textbf{x}_\text{EEF}$), using the foward kinematic map. ...
6k views

### Getting pitch, yaw and roll from Rotation Matrix in DH Parameter

I've calculated a DH Parameter matrix, and I know the top 3x3 matrix is the Rotation matrix. The DH Parameter matrix I'm using is as below, from https://en.wikipedia.org/wiki/Denavit%E2%80 Above is ...
3k views

### Differences between Ackermann steering and standard bi/tricycles concerning kinematics?

I got the following homework question: What are the general differences between robots with Ackermann steering and standard bicycles or tricycles concerning the kinematics? But, I don't see what ...
2k views

### How do I convert link parameters and angles (in kinematics) into transformation matrices in programming logic?

I'm doing robotics research as an undergraduate, and I understand the conceptual math for the most part; however, when it comes to actually implementing code to calculate the forward kinematics for my ...
491 views

### inverse kinematics for 6 jointed robots

I am a uncertain about how to compute the right homogeneous transformation matrix to compute an inverse kinematic Q-configuration. Looking at robot like this Where at the end of this robot I have ...
2k views

### Forward kinematic computing the transformation matrix

I am the moment trying to compute the transformation matrix for robot arm, that is made of 2 joints (serial robot arm), with which I am having some issues. L = 3, L1 = L2 = 2, and q = ($q_1$,$q_2$,\$...
962 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 ...