5 votes

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 ...
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  • 1,136
3 votes

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 ...
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  • 6,437
2 votes

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 ...
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  • 21
2 votes

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 ...
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1 vote
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 ...
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  • 1,146
1 vote

Choose the structure of the dynamic model for the generalized equations of motion of the robot

The system in the paper is supposed to control an exoskeleton which will mimic the motions of the person inside, except bearing the weight of the backpack (and some of the person's weight, too). There ...
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  • 1,136
1 vote
Accepted

4 Axis Gimbal Nodal Robot DH Parameters

i had corrected the kinematic diagram as per the right hand rule, and the dh parameters are, i had updated thekinematic diagram with the 5th frame (for camera mount)
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1 vote

Denavit-hartenberg parameters sign 6-DOF

First thing first- you can consider any direction as positive or negative, but need to keep it constant while solving the problem and even while programming robot. In almost all cases of 6-DOF ...
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1 vote
Accepted

Estimation of pitch, roll, yaw angles: synthesis of an observer or IMU?

Assuming this is a platform attached to a robot of some kind, you can: Measure the platform pose directly, as with an inclinometer, IMU, laser, camera, etc., Measure the platform pose indirectly, by ...
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  • 14.7k
1 vote
Accepted

My robot keeps getting saved as one cylinder leaving out the bottom cube

I suppose that what you're seeing when you add your robot model to the world is something like this: That is, only the top part of the robot is visible. The problem is not that the bottom part isn't ...
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  • 1,266
1 vote

How to simulate a quadcopter using robotics simulator?

I have never used it ,because I have always dealt with custom simulators but I know others have had success with the RotorS simulator. Answers to your questions: 1) Can I modify these models so ...
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  • 1,571
1 vote
Accepted

Why are the angular velocities of concentrated masses in Lagrangian independent?

Welcome to Robotics, Andrew Sol. I think I'm a little confused with your question as it appears to be about independent rotational masses connected by rotational springs, but then later you're asking ...
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  • 14.7k
1 vote
Accepted

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

The equations of motion is simply $$ \begin{align} J_m \ddot{\theta}_1 + K_{md}(\theta_1-\theta_2) &= \tau_e \tag{1} \\ J_d \ddot{\theta}_2 + K_{md}(\theta_2-\theta_1) &= \tau_L + \tau_s \tag{...
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  • 2,347
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. ...
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  • 477
1 vote
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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 ...
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  • 313

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