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Equations of motion in matrix form and energy consumption

Can you set up the problem so that the quantities you care about (e.g. power) are more explicitly represented? Reasoning physically, where could the power go? Accelerating masses, including rotation ...
• 1,271

Occupancy grid maps

As the wikipedia page of Occupancy grid mapping explains, the result of the mapping process is a binary 1 or 0, occupied or not, the decision itself may be based on noisy data, which involves the ...
• 6,682

Equations of motion in matrix form and energy consumption

First, you need to get rid of the damping matrix C as it transforms kinetic energy into heat. Second, you should make the mass matrix as small as possible. (lightweight construction). After that you ...
• 21

Occupancy grid maps

Cause of the intrinsic noise in sensory data, we have to consider a probabilistic model (mostly Gaussian) for the sensor measurements. As a matter of fact, the description and definition of the ...
• 96
Accepted

URDF for a real robot

For a real robot, do I need a URDF as well? It is not necessary to create a URDF for a real robot, but it's highly recommended. Many of the tools are designed to leverage it. For example the ...
• 25.1k

Steering wheel angle control

How do I choose the actuator for my steering wheel angle? Assuming this actuator will be directly driving the steering angle controller which take rotary inputs, you'll need a - Rotary actuator. ...
1 vote

Modelling/Theory for Quadraped Robot Leg Example

Most tutorials about kinematics and dynamics would teach you open-chain systems, like the typical robotic manipulator. While in this robot, the leg itself is a closed-chain system, which is quite ...
• 21
1 vote
Accepted

• 2,453
1 vote

Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

Yes it is possible. You can look at the following paper Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators With Actuation Compliance Guanglei Wu , Shaoping Bai , Jørgen A. ...
• 497
1 vote
Accepted

Model of two link rigid manipulator

Those two papers have a different equation for the same robot because they have taken different assumption. The first paper has considered the centre of mass to be at the end of the link, and the ...
• 313

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