# Questions tagged [theory]

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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 ...
67 views

### How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
21 views

### What is canonical grasp?

What is a canonical grasp and how is it different from normal/other grasp? I've searched through internet and forums but haven't found any answers.
87 views

### Going from Spline to Differential Drive Command

I have a differential drive robot that needs to move along a path stored in its memory as a spline. I am currently trying to understand the mathematics of determining how much power to apply to each ...
38 views

### How is this torque value arrived?

I'm going through this person's torque calculation of a simple crane setup. the servo used has a max torque of 57oz.in: At the top, if Mservo is 34.12oz.in, how is ...
104 views

### Angular velocity in terms of quaternions

Im reading Theory of Applied Robotics, 2nd edition by Jazar, specifically section 7.1, example 207 on page 390. The author is trying to express angular velocity by unit quaternions. Starting from ...
22 views

### Moment of Inertia of a planar rotation link with a 6-DOF base

I'm interested in analytic calculation of a moment of inertia of a robot's arm in the following situation. Let us assume the following: Stationary reference frame $\{b\} = \{X_B, Y_B, Z_B\}$ and ...
33 views

### Articulated configuration

I'm reading Theory of Applied Robotics, 2nd edition by Jazar. The author states that articulated configuration has the following form: $R \vdash R \perp R$ where $R$ stands for revolute joint, $\vdash$...
136 views

### Is Fuzzy logic applicable for robotics research

I found some papers that use fuzzy logic to solve robotics algorithmic problems. But I have recently been told by a few roboticists that fuzzy logic should not be used in robotics because it has ...
52 views

### Strange phase case in Bode diagram of a transfer function [closed]

Please help me to solve my problem: This is the transfer function: $G(s)=10\frac{(s^2+1)(s-10)}{s(s+0.1)(s^2+2s+100)}$ I calculated properly the whole Bode diagram apart from the phase of the complex ...
68 views

### How many stages necessary to stabilize position while controlling torque?

I'm assuming that since torque translates into acceleration, the basic transfer function from torque to position becomes $1/s ^ 3$ Does this mean that 3 pid controllers are required to properly ...
58 views

### Theory behind wheeled inverted pendulum robots [closed]

I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
261 views

### What is exact model of haptic interface system in the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
381 views

### Why ODE for optimal control theory?

I am trying to understand optimal control theory which forms the base for reinforcement learning techniques in AI. Whenever I open a lecture or a book or any online notes, everything starts with an ...
94 views

### What is difference between RoboEarth and KnowRob? [closed]

I am not able to clearly differentiate between the two platforms: RoboEarth, and; KnowRob.
3k views

### Difference between Degrees of Freedom (DOF) and Degrees of Motion (DOM)

What is a difference between degrees of freedom (DOF) and degrees of motion (DOM)? I know that DOF is the number of independent movements a manipulation arm can make and robot system can have max 6 ...
126 views

### Does a controlling system need to be more complex than the system being controlled?

Is there any theoretical principle, or postulate, that states that the controlling system has to be more complex than the system being controlled, in any formal sense of the notion "complex"?
65 views

### Papers on Algorithms in Robotics [closed]

I'm a CS student and I need to give a 30-minute lecture about 1-2 papers describing 1-2 algorithms for any of the main problems in Robotics (navigation, coverage, patrolling, etc.). I have no ...
147 views

### Inverting a transform (Reading J Craig's book on Robotics)

From Introduction to Robotics by J.J. Craig, chapter 2, Page no. 36: Could anyone explain how that equation was derived/formed? I am stuck on this page due to failing to understand where the equation ...
62 views

### Which math course will be most beneficial? [closed]

Let me know if this should be on Academia instead, but I posted it here to get responses specifically from people active in robotics development. I'm currently an undergraduate student completing ...
924 views

### role of chi2 in SLAM back-end optimization

All-most all SLAM back-end implementation compute chi2 estimates. Chi2 computation is usually used to compute the best-fitness score of model to the data. How it is related to optimization framework ...
65 views

### Perfect implementation of Asimov's 3 Laws

After seeing the movie, I, Robot, I got this question. If Asimov's 3 Laws (actually implementing law 1 automatically implements the other 2) are perfectly implemented on a quantum computer that ...
99 views

### Shortest path using wave planner?

How could I compute the shortest path between point a and b using wave planner? I don't see how using the wave planner would give me the shortest; it would just give me a path! As far as I can tell, ...
93 views

### Why models are not perfect to represent robotic environments?

Sebastian Thrun says in his paper on Particle Filters that - no model however detailed fails to represent the complexity of even the simplest of robotic environment. What does he means by this? Can ...
2k views

### What is the difference between screw and wrench in rigid body motion?

A screw is defined by a six dimensional vector of forces and torques. It can represent any spatial movement of a rigid body (as written here). But I don't get the following distinction between screw ...
1k views

### Taylor Series expansion for EKF

In Probablistic Robotics by S. Thrun, in the first section on the Extended Kalman Filter, it talks about linearizing the process and observation models using first order Taylor expansion. Equation ...
213 views

### How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
3k views

### Differences between Ackermann steering and standard bi/tricycles concerning kinematics?

I got the following homework question: What are the general differences between robots with Ackermann steering and standard bicycles or tricycles concerning the kinematics? But, I don't see what ...
The optimal sampling-based motion planning algorithm $\text{RRT}^*$ (described in this paper) has been shown to yield collision-free paths which converge to the optimal path as planning time increases....