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The parallel axis theorem gives: $$ I = I_{\textrm{cm}} + md^2 \\ $$ where $I_{\textrm{cm}}$ is the moment of inertia about the object's center of mass, $m$ is the mass of the object, and $d$ is the distance from the center of mass of the object to the axis of rotation. You can also look at load acceleration and torque, where: $$ \tau = I\alpha \\ $$ Or, ...


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If you should consider not just points, but poses (position and orientations). If you can write these as a table, where the columns are the coordinates +-------+--------+--------+-------+---------+--------+--------+ | Point | X [mm] | Y [mm] | Z [mm]| A [deg] | B[deg] | C[deg] | +-------+--------+--------+-------+---------+--------+--------+ | P1 | ...


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The weight of the motors is less then the weight of the gears and bearings in the joint. So moving the motors only not that advantageous. Moving the gearboxes can be done, but bearings still need to be left at the joint. If motors and gearboxes are moved, but bearings are not, then additional bearings are required for the "moved" gearboxes and some ...


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At a high level, you would need to do something like this: Create a kinematic chain the helps you map from the 2D configuration space (the position of the linear actuators) to the 3D task space (the position of the end of the robotic arm). Use inverse kinematics (IK) to figure out how the actuators needs to be positioned for a desired task space position. ...


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I think it is likely that you are confusing two uses of the word “singular”: The singular values of a matrix as found via singular value decomposition. The singular configurations (or singularities) that occur when the Jacobian loses rank.


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You are comparing different products made for different use-cases. ROS is an open source software solution to control robots. It is intended (mainly) to be programmed by highly qualified software developers and in some rare cases the robots running ROS are used in the industry also. There is no technical support whatsoever, there are no guarantees that the ...


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A robot arm's dexterity is a function of its physical structure (arrangement of joints) and configuration (joint positions). And it can change depending on the way the arm is positioned. It has nothing to do with the mathematical representation of the arm (DH parameters vs. dual quaternions, etc). Looking at the function for manipulability involves the ...


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