Questions tagged [kinematics]
Kinematics is the branch of mechanics dealing with the motion of points and objects.
19
questions with no upvoted or accepted answers
2
votes
2answers
214 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 ...
2
votes
0answers
85 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 ...
2
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0answers
72 views
How do CAD programs solve for Inverse/Forward Kinematics problem in Assembly?
I am trying to solve for the Forward kinematics of a spatial parallel manipulator. Its loop closure (LC) equations are pretty long, and are being solved using numerical methods. As I am adding more ...
1
vote
0answers
28 views
Task Space Control Parameters for 6-Dof Manipulator
I'm developing a Task Space controller based on speed for a Universal Robot 5. I've already calculated the Jacobian, position and rotation error for the classic control method:
The method works fine ...
1
vote
0answers
28 views
how to normalize PWM if the value exceeds the maximum speed limit
I have implemented inverse kinematics for nonholonomic mobile wheeled robots, and the RPM range of the motor that I used is -50 to 50, while for PWM is from 1300 to 1700. But in certain cases, the RPM ...
1
vote
0answers
40 views
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 ...
1
vote
0answers
80 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. (...
1
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0answers
152 views
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 ...
1
vote
0answers
79 views
Inverse kinematics for a robot lamp
I've been working on a robot lamp.
Looking something like this:
So i had a few questions. I've decided to simplify the movements by giving the head a fixed orientation like you see in the picture. ...
1
vote
0answers
41 views
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 ...
1
vote
0answers
57 views
Can active sensor data be fed into an Autodesk Inventor Simulation?
I'd like to drive the position of various components within a virtual assembly based on sensor data being collected in real time from an external device. Does Inventor support such a setup?
The goal ...
0
votes
0answers
3 views
Angular Velocities of CoM in Global Coordinate
The block diagram of the robot is shown as above. Here, $\phi$ is the angle between $X_v$ and $X_0$ (Yaw angle of the robot), and $\psi$ is the angle between $Z_b$ and $Z_v$ (pitch angle of the robot'...
0
votes
1answer
64 views
How does it get a bizarre term in triangle law of vector equation in a paper
I am reading the paper "Motion control of wheeled mobile robots"
at page 5, as we have the equation (34.7), i wonder how it contains $− dc(s)\dot s$ in side. As the triangle law of vector: $\vec{OP}=...
0
votes
1answer
48 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 ...
0
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0answers
12 views
Effective forces on an object for grasping
For example, a robot or a humankind is grasping an object such as a bottle.
Which forces are effective on that bottle ?
This is my opinion:
When we grasp a ...
0
votes
0answers
17 views
3 DOF robot torque not converging Robotics Toolbox
I have a Simulink model in which desired torque is [0;0;0] and current torque should converge to zeros too. But I am getting oscillatory torque as output.
This is the block diagram of what I am ...
0
votes
1answer
56 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 ...
0
votes
1answer
86 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 ...
0
votes
1answer
28 views
Maximum value of norm of mass matrix M
How do I compute the maximum values for ||M(q)|| and ||M_dot(q)||, the induced 2-norms, where M(q) is the mass matrix from the standard dynamical model of a robotic manipulator. I have the numerical ...
