Questions tagged [robot-model]
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11
questions
1
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1answer
119 views
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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0answers
31 views
What is a “vacuous matrix”?
I am currently learning about robotic grasping and came across a matrix $H_i \in \mathbb{R} ^{l_i \times 6}$ which selects $l_i$ components of the relative contact twists and sets them to zero. My ...
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35 views
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 ...
1
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3answers
44 views
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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1answer
93 views
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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1answer
48 views
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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1answer
78 views
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 ...
0
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1answer
43 views
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 ...
0
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1answer
57 views
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 ...
1
vote
2answers
62 views
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.
...
0
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2answers
82 views
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 ...
