# Questions tagged [motion]

the action or process of moving or of changing place or position

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### Coverting rotational to linear movement

What are the different methods to covert rotational to linear motion in the example below? The servo motor will rotate causing the metal rod to move in a linear motion as seen below. Linear motion ...
59 views

### S curve velocity profile

I want to build simulation for S curve velocity profile (TIME-OPTIMAL POSITION PROFILE). I want to use an S-curve for my velocity profile where the position is already given. This means I have to ...
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### What's the difference between the different types of "control"

I've embarked myself into an "action in robotics" journey, and I'm currently having troubles to understand the main differences between the different types of "controls" listed ...
28 views

### Velocity based motion model (dead reckoning)

I'm trying to understand the derivation of the velocity based motion model to implement an EKF: But the problem is, that I cannot find any derivation/explanation. Mostly there is only a visualization ...
25 views

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### Explanation for exponential coordinate of rotation

From figure above, suppose a three-dimensional vector $p(0)$ is rotated by an angle $\theta$ about the fixed rotation axis $\omega$ to $p(\theta)$. Here we assume all quantities are expressed fixed ...
• 123
230 views

### Jacobian of kinematic IMU Model

I have the following problem: given two Input Vectors $x = \begin{pmatrix}x\\y\\z\\v_x\\v_y\\v_z\\q_1\\q_2\\q_3\\q_4\end{pmatrix}$, $u = \begin{pmatrix}a_x\\a_y\\a_z\\w_x\\w_y\\w_z\end{pmatrix}$ time \$...
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1 vote
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### Probably basic question about how control a DC motor

over the past weeks I was trying to figure out how use the information from hall sensor to control a DC motor. Basically this is the motor which I'm using: https://www.servocity.com/32-rpm-hd-premium-...
577 views

### Motion planning from a given path

Many articles reference algorithms such as A*, PRM or RRT based planners to motion planning algorithms which seems unreasonable since it is still necessary to parametrize found path with time.I wonder,...
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935 views

### Are S-Curve (constant jerk) motion profiles significantly better than constant acceleration?

I've been investigating S-Curve motion profiles for CNC router and 3D printer applications, and haven't come across any definitive source that says an S-Curve profile is necessary in any application. ...
1 vote
199 views

### My robot arm vibrates during operation. Why?

Introduction: I have modeled my 5-DOF robot arm in a simulation environment to test trajectories for my physical model. I have export the joint variables from the simulation as a .csv file. Then ...
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1 vote
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### Quadrotor SE3 Controller: Calculating Rd_dot

I am trying to simulate and implement the controller in the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). I have the dynamics implemented, however I am stuck at one part in the ...
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1k views

I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). To do this I need to first implement the dynamics of the quadrotor. According ...
• 117
239 views

### Why don't bipedal robots ever feature natural movement?

I'm a programmer and I've decided to make some bots for fun. I might start with wheels but my ultimate goal is to make bipedal robots. To that end I first decided to watch a bunch of videos of such ...
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5k views

### What does SE mean in robotics literature?

I've come across the abbreviation SE several times recently. I know it has to do with the pose of the robot, and the degrees of freedom. Most recently I found it on page 8 of this paper: D. Kragic ...
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