# Questions tagged [kinematics]

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

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### I found the matrices but can't find the inverse kinematics angles

I need to find inverse and forward kinematics of Mitsubishi RV-M2 as a homewrok. I found the forward kinematics part. But I got stuck in inverse kinematics. Teacher said we can think that wrist ...
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### How to create Matlab Simulation for Kinematics of Differential Drive

I studied the forward and inverse Kinematics of the robot and got a clear understanding. I am in the progress of developing my matlab simulation for a two wheeled differential drive robot. The robot ...
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### Principle of virtual force - General help in understanding / explanation

I'm an Electronics student taking a module in Robotics. From the example, I understand line 1 as the Jacobian is found from the time derivative of the kinematics equation and such relates joint ...
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### How to determine the angles between a UAV and a sphere

I have an UAV modeled in three dimensions with let's say position coordinates $p_{uav} = (x_1,y_1,z_1)$ that is moving in a direction $d = (d_x,d_y,d_z)$ and a moving obstacle modeled as a sphere with ...
496 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 ...
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 ...
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### Difference between an underactuated system, and a nonholonomic system

What's the difference between an underactuated system, and a nonholonomic system? I have read that "the car is a good example of a nonholonomic vehicle: it has only two controls, but its configuration ...
449 views

### Dynamic model of a robot lifted by a balloon (Multibody system)

I'm having a hard time trying to understand how to obtain the dynamic model for a system similar to the image. The balloon is a simple helium balloon, however the box is actually an aerial ...
844 views

### Finding rotation quaternion

I am trying to use a quaternions for robotics and there is one thing I don't understand about it. Most likely because I don't understand how to define position with quaternions and how to define ...
319 views

### Are operational space and joint space dependent on each other?

Some questions about this, my friends and I argued with this problem. Are operational space and joint space dependent on each other? I know that $x_e$ (end effector's pos.) and $q$ (joint var.) can ...
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### List of books similar to Thrun's Probabilistic Robotics for robot mechanics and manipulation [closed]

What? Put together here a list of books (like the one for C/C++ on StackOverflow) that are spiritually similar to Sebastian Thrun's Probabilistic Robotics for robotic manipulation and mechanics. Why?...
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### How many DOFs required to define a 3D pose

I understand that to be able to define point in 3D space, you need three degrees of freedom (DOFs). To additionally define an orientation in 3D space, you need 6 DOFs. This is intuitive to me when ...
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### How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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### Accurate technique to locate position? [closed]

What is the most accurate way to locate the position and orientaion of the body during some motion (rotation and translation)? I need to track the body very precisely, the required accuracy is 100-...
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### How to perform odometry on an arduino for a differential wheeled robot?

I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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### Kinematic decoupling

Is kinematic decoupling of a 5DOF revolute serial manipulator also valid? The three last joints is a spherical joint. Most literatures only talks about decoupling of 6DOF manipulators. Thanks in ...
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### Running my 3 DOF Inverse Kinematics Code: Works in MATLAB, not in Python

I asked a question similar to this earlier, but I believe I have a new problem. I've been working on figuring out the inverse kinematics given an x,y,z coordinate. I've adopted the Jacobian method, ...
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### 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. ...
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### Mobile Robot path reconstruction by using IMU acceleration and Yaw angle

I hope you can help me with my project. I'm using a skid-steering wheeled mobile robot for autonomous navigation and I'd like to find a way to be able to perform path reconstruction in Matlab. By ...
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### How to use the Homogeneous transformation matrix?

I am trying to understand how to use, what it requires compute the homogenous transformation matrix. I know 2 points from 2 different frames, and 2 origins from their corresponding frames. I how ...
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### How to convert between classic and modified DH parameters?

I currently have a description of my 22 joint robot in "classic" DH parameters. However, I would like the "modified" parameters. Is this conversion as simple as shifting the $a$ and $alpha$ columns ...
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### 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 ...
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### 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 ...
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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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### How can a memory alloy be used as an alternative to a compressor found in a refrigerator? [closed]

I'm curious about this alloy and how they say it can be used as an alternative to a traditional compressor. Can anyone explain how this would work? My goal is to understand that use case so I can ...
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### Assuming I have the angle with respect to two beacons, and know the distance between them, can I localize myself?

Let's assume I have the following situation, and need to find (x,y). Is it possible? There does not appear to be more than one solution to the system, but my trigonometry is a bit rusty. I feel ...
297 views

### Measuring angular displacement using the TI-SensorTag

I've looked around but can't find the answer, to what I hope is a simple question. I'm working with a TI-SensorTag, and I want to be able measure the rotation around the unit's Z-axis. Basically I ...
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### How do I work out the kinematic solution of a robot arm?

I draw a robotic arm in Solidworks, but I'm not so sure about how to find out the DOF, forward and backward kinematic. Could anyone help me understand how to work out the kinematic solution of this ...
219 views

### Why I'm getting very long terms in the inertia matrix (or dynamics model) of the robot using matlab script?

I'm working on the dynamics model of a RRRR articulated robot, I'm following Euler-Lagrange approach and developing my code in m-file in matlab; I'm looking for dynamic model of this form:  D(q) \...