Questions tagged [robot-model]

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Modelling/Theory for Quadraped Robot Leg Example

I have been working on attempting to replicate the following robot developed by some MIT graduates. https://dspace.mit.edu/handle/1721.1/98948 Presently, I am trying to work out the model for a single ...
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In MuJoCo I have a model with one hinge joint made of two meshes that I can't get to actuate

The joint just opens 180 degrees and shakes in place a little. What am I doing wrong that would make this egg slicer open and close smoothly? ...
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Stuck on basic velocity constraint problem

Hello. I'm stuck on this problem from chapter 2 of Lynch & Park. My understanding is I have to find some set of equations to describe the notions the robot doesn't slip sideways. the robot is ...
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URDF for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
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DH Parameters of a 2 DOF RP Robot

How can I determine the DH parameters of the robot shown in the figure ? As i know, the z axis should show the rotation axis for rotary joints and direction of extension for prismatic joints, so the ...
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Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
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Choose the structure of the dynamic model for the generalized equations of motion of the robot

I ask the robotics specialists for help as I am a little confused. I have two subsystems which are shown in the picture below: One of them is a system of stable and controlled differential equations ...
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Generate robot model for openrave

Is there another way to generate a collada model to work with openrave other than converting an URDF file with ROS' collada_urdf software? The problem I'm encountering is with the setup needed to use ...
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4 Axis Gimbal Nodal Robot DH Parameters

I'm working on a robot gimbal where there are 4 revolute joints (4th axis for gimbal lock, reducing inertia etc). The robot is nodal such that all axes have the same nodal point and rotating any axes ...
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DC motor modelling with Bond Graph

I am trying to construct an equation that describes the output torque as a function of lambda and omega I have obtained the following bond graph but I am unsure of how to proceed.
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Equations of motion in matrix form and energy consumption

I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known: $M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$ In here, $M(q)$, $...
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Spherical Parallel Manipulator Lagrangian problem

I faced a very serious problem and I urgently need the help of specialists in robotics, mechanics, physics and mathematics. I am trying to derive equations of motion from the Lagrangian of a spherical ...
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Cartesian Stiffness Matrix and Complieance Matrix of Spherical Parallel Manipulator

In the article https://www.sciencedirect.com/science/article/abs/pii/S0094114X14000020, I came across the construction of a Cartesian stiffness matrix. On page 14 I see the components of the moments ...
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Denavit-hartenberg parameters sign 6-DOF

Trying to understand how does the Denavit-Hartenberg work. While I understood how is the table constructed, I however don't understand how are the signs for the orientation parameters (theta, joint ...
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ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
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Occupancy grid maps

Why do we take probabilistic approch to model the environment for robots in occupancy grid maps.The assumption is always taken that each cell on the grid map is either free or occupied.So why have ...
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Estimation of pitch, roll, yaw angles: synthesis of an observer or IMU?

Dear Robotics Specialists, I want to contact you for advice. I am developing a control system for complex parallel mechanisms like what I presented in this thread. Formulas for calculating the ...
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My robot keeps getting saved as one cylinder leaving out the bottom cube

I created a robot in the model editor that is made up of a cube and a cylinder with a revolute joint between them but after saving it and inserting another instance into the world, I only get the ...
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How to simulate a quadcopter using robotics simulator?

I am building my own autonomous quadcopter. I wish to simulate it using V-REP/Gazebo in order to tune the flight controller. I see that there are inbuilt models but they have properties(physical ...
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Forward kinematics of spherical parallel manipulators with revolute joints

I found an article that can help in my investigations. Forward kinematics of spherical parallel manipulators with revolute joints The problem is solved for the following system of vectors, which is ...
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Why are the angular velocities of concentrated masses in Lagrangian independent?

There is an ordinary linear three-mass system. If we write its Lagrangian, we get the following equation. where $W_k$ and $W_n$ - kinetic and potential energy. To find the moment of rotation of the ...
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Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

I want to develop a dynamic model of a parallel robot for control tasks. It is known that equations of motion based on Lagrange equations can be transformed into a state space and use such a model. ...
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Model of two link rigid manipulator

I am working on parameter estimation of a rigid two-link manipulator as shown in the picture below. Unlike the cylindrical links shown in the above image, my robot has links of oval shape. So the ...
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