# Questions tagged [manipulator]

manipulator is a device used to manipulate materials without direct contact.

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### SLERP velocity and acceleration (3d Orientation interpolation)

Hey guys I am quite new to quaternions and I am a bit unsure as to how to use them. How are the velocities and accelerations trajectories determined using quaternions? I have been using slerp to ...
• 344
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### Cartesian Impedance control Damping Design (Double Diagonalization)

In the literature, it is often seen that for a system: \begin{align} \Lambda \ddot{e} + D_d \dot{e} + K_d e = F_{ext} \end{align} A dynamic damping matrix is required for a robot to take ...
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1 vote
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### How do I find the minimum time for computing a trajecotry for a robotic arm?

I am studying robotics and I am focusing on trajectory planning. I have been struggling with this topic for a while, and I still have some doubts that I cannot solve. One of them is the following: I ...
• 469
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### How do I assign the origin of the frames in the Denavit Hartenberg convention?

I am studying the Denavit Hartenberg and to practice I am using the following manipulator: I have been able to assign some of the frames almost correctly, but i did some mistakes I cannot understand. ...
• 469
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### What is the reasoning for solving inverse kinematics problems?

I am a student, and I am studying robotic arm manipulators. I am focusing on the concept of inverse kinematics, I have understood is the process of finding, from the direct kinematics, the joint ...
• 469
1 vote
485 views

### Jacobian Derivative (Analytical?)

If I understand this correctly, given the Jacobian Derivative $\dot{J}(q)$ derived using the method presented from the paper by (Rhee, J. Y., & Lee, B., 2017) where the algorithm summarized ...
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