# Questions tagged [kinematics]

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

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### Using jacobian of arm robot to calculate transformation matrices?

I have been given a Jacobian for a 3 revolute joint robot. I need to obtain the origins of each of the joint. Origins of the joints can be obtained once I get $T^0_1$, $T^0_2$, $T^0_3$ and $T^0_4$. ...
1 vote
1k views

### How to check reachability of manipulator to a point?

I have written a MATLAB code for inverse kinematics of 3R robotic arm, which returns value of joint angles for given link lengths and end effector position and orientation. But if location of point is ...
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### Optimization of link lengths for 3R serial manipulator

I am trying to formulate an optimization problem for determining link lengths of 3R manipulator shown in picture below, Following are the constraints, Robot arm should be reachable at point x = 100, ...
• 193
1 vote
105 views

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### What kinematic equations should I use for Kalman filter state propagation in IMU based quadcopter navigation?

I am working on implementing a Kalman filter for position and velocity estimation of a quadcopter using IMU and vision. First I am trying to use the IMU to get position and velocity. In a tutorial [1] ...
• 143
80 views

### What is the top speed of a four legged robot? [closed]

In Neal Stephenson's novel "Snow Crash", a robotic/cybernetic creature known as a "Rat Thing" looses its bounds and runs to rescue another character. The Rat Thing is portrayed at moving over 700 ...
• 111
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### Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?

Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
• 31
3k views

### 2DOF arm with quick movement: Stepper, servo, or DC motor?

To make a two degree of freedom arm capable of speeds needed to play air hockey, how should the arm be controlled? I'm wondering about speed vs accuracy. The following image is from a project ...
• 152
2k views

### Forward and Revers Kinematics For Modified Hanging Plotter

I'm building a modified version of the standard hanging plotter (v-plotter). The basic idea is that you have two cables hanging from stepper motors which form a triangle supporting the pen at the tip. ...
• 169
260 views

### Determining the graspable range of a robot arm

I have a 6 DOF robot arm, and I want to do some object grasping experiments. Here, the robot is rigidly mounted to a table, and the object is placed on a different adjacent table. The robot must pick ...
• 863
1 vote
456 views

### Rostock Delta Robot 3D Printer Degrees of Freedom (DOF)

What is the degrees of freedom (DOF) of the Rostock delta robot 3d printer (delta mechanism that consists of three prismatic joints)? Here's the link to the delta mechanism I'm referring to: https://...
23k 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 ...
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585 views

### Distance calculation with two robots and two obstacles

I have a problem with two robots and two obstacles in a space. Each robot can communicate its measurements to the other and can measure angles and distances. The two obstacles in the environment are ...
• 21
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### I'm looking for hands-on experience with different types of leg and hip designs for walking robots [closed]

I'm looking to find out, How do human-like legs compare to chicken legs and four-leg systems. In terms of cost, performance, speed, strength and accuracy. I'm interested in things like speed, agility,...
3k 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 ...
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