4 votes

Robot model explodes in Gazebo

This is a famous crash in Gazebo, similar to the one shown below.  It is one of the confusing errors. To debug this issue, start the Gazebo with simulation paused. We can pause the simulation by ...
Robotawi's user avatar
  • 480
2 votes
Accepted

Controlling motion of single link

I believe all of the above is correct, but if someone thinks otherwise I would welcome the correction. Yes, it's correct. The boundary conditions now include (I think) $\ddot{\theta} = 0$ at $t=0$ ...
JRTG's user avatar
  • 1,624
2 votes
Accepted

How to reduce the turbulence of a robotic arm, when it's end effector touches a surface?

A stiff robot arm, in contact with a stiff environment, will yield very high contact forces and an instable contact. For a stable contact, you need some compliance in either your tool or your object.
JRTG's user avatar
  • 1,624
1 vote

Gazebo joint velocities do not agree with joint displacement

It's likely that the contacts are continually being created in one step and removed in the next step. I would first check that you're using a primitive sphere for your collision instead of a mesh. ...
azeey's user avatar
  • 411
1 vote

kinetic and potential energy of 3 DOF robot having 2 cylindrical links

Welcome to Robotics, DANAISH! I'm sorry I don't have access to Matlab anymore, so I'm not able to follow along with the symbolic math you've posted here. I'm assuming you've double-checked your math ...
Chuck's user avatar
  • 16k
1 vote
Accepted

Is the angular velocity vector the derivative of a time-varying quantity?

As far as I can tell, the phrase Note that this velocity vector is not the derivative of a position variable, since the angular velocity vector is not the derivative of any particular time-varying ...
domo_arigato's user avatar
1 vote

what does free or forced torque mean in robot arm dynamics?

Free torque is a torque that is applied to a joint without any external load or resistance. This type of torque is used to model the behavior of a joint that is moving freely, such as an arm swinging ...
guero64's user avatar
  • 338

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