Questions tagged [kinematics]

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

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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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
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. (...
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 ...
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. ...
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 ...
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 ...
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'...
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}=...
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 ...
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 ...
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 ...
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 ...