5
votes
Accepted
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
4
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 ...
- 6,652
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 ...
- 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 ...
- 96
2
votes
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 ...
- 24.7k
2
votes
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.
...
- 41
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
DH Parameters of a 2 DOF RP Robot
Using the DH convention in Robot Modeling and Control by Spong, the DH table is
$$
T_2^0 =
\begin{bmatrix}
c_{\theta_1} & 0 & -s_{\theta_1} & 0 \\
s_{\theta_1} & 0 & c_{\theta_1} ...
- 2,453
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 ...
- 1,271
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)
1
vote
DC motor modelling with Bond Graph
It might help to organize the equations a little in steps. I think you have all this above:
Output torque of system:
$\tau_F$
Output torque at motor:
$\tau_0 = \tau_F/N$
Motor output speed:
$\...
- 338
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 ...
- 186
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 ...
- 16k
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 ...
- 1,353
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 ...
- 1,831
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 ...
- 16k
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{...
- 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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