# Tag Info

Accepted

### What does SE mean in robotics literature?

In that context, SE means "Special Euclidean" group, e.g. SE(3)* which is shorthand for "the special Euclidean group of rigid body displacements in three-dimensions". *Planning ...
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### What does SE mean in robotics literature?

It is a mathematical concept call the "Special Euclidean" group. Roughly, it is a combination of a rotation and translation. You'll also frequently see SO3, which is the special orthogonal group which ...
• 2,814

### What are the equations of a s-curve position path?

The S-Curve profile can have several divisions along the time axis 7 divisions as per this image. This example has a constant positive jerk zone, a constant acceleration zone, a constant negative ...
• 671
Accepted

### 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,...
• 1,859

### Explanation for exponential coordinate of rotation

The author expects a background that includes a course in physics or mechanics where this equation is taught. When that is the case, this equation gives you instantaneous velocity of a particle (point)...
• 4,445
Accepted

### What are the equations of a s-curve position path?

To come up with a mathematical expression of the position reference $x\left(t\right)$ as a function of time $t$, we can inspect the profile of the acceleration $a\left(t\right)$. It is piece-wise ...
• 4,005
Accepted

• 4,005
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### Dynamical footprint in Nav2

The "easy" solution would be to use a footprint that covers the robot in any configuration - the downside is that footprint is likely quite large and if you are planning in confined areas, ...
• 6,037
1 vote

### Jacobian of kinematic IMU Model

A robot Jacobian is The time derivative of the kinematics equations [...] which relates the joint rates to the linear and angular velocity of the end-effector. I'll emphasize that it relates ...
• 15.9k
1 vote

### Controlling YuMi robot by serial port

There is an open source ROS library, which implements controlling an ABB robot using the EGM. You can find the library here. The library allows the definition of a trajectory and adding points to the ...
• 6,682
1 vote
Accepted

### Ackermann Motion Model Does not Drive in an Arc, but Turns on the Spot

The first ackermann model presented is based on dead reckoning, i.e. it needs wheel encoders. The ackermann model in edit 2 is based of velocity. It can be found here: https://pdfs.semanticscholar....
• 151
1 vote

### Motion Profiling for Decreasing Energy Consumption

To paraphrase your question, you are using "bang-bang" control to keep the velocity of your vehicle within a desired range, and want to know if there is a better way to minimize energy consumption per ...
• 4,396
1 vote

### Motion planning from a given path

I have used A* for motion planning in a highway simulation with moving obstacles (other cars). The README includes a thorough description of my approach. I recommend reviewing this project to ...
• 338
1 vote

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

Short version, yes having an s-curve profile is beneficial for smoother and more accurate tracking. Longer version: For all real hardware systems I've worked with it has been important to use an ...
• 2,814

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