madn
  • Member for 4 years, 3 months
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robotic arm DOF
3 votes

The system has 2 DOF! Your assumption The actuation focres also remove 1 DOF each. is wrong. Generally you can always use a simple proof about the DOF. In your system you have 3 generalized ...

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How do I model a simple robot arm as a plant?
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3 votes

Each joint of your robot is one motor. They are coupled though kinematic relations and dynamic physics. One straight forward way is to derive these so called 'equations of motion' using the euler-...

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Sensor fusion - Kalman for two identical position sensors
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2 votes

The matrix $C$ usually is denoted the output matrix of your system. So e.g. if you are interested in the 3 positions $x,y,z$ your matrix would look like $ C=\begin{bmatrix} 1 & 0 & 0 & 0 &...

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What is the typical intro example for control systems for a spherical joint?
1 votes

not a direct answer, but I would recommend you the following lessons by Peter Corke: robotacademy: joint control

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Forward Kinematics Frame Simulation in MATLAB
1 votes

suppose you calculate the positions of your joints $p_i, i=1\ldots6$ using your homogeneous matrices. The best solution in my experience is to plot the initial configuration e.g. like this: // calc ...

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How many stages necessary to stabilize position while controlling torque?
1 votes

I would say the transferfunction becomes $\frac{1}{s^2}$ iff you assume you have a perfect drive without any dynamics. Since this system is unstable you have to be careful choosing your controllers. ...

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How to compute associated (partial) Jacobian matrix for each joint of a serial manipulator?
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0 votes

Well, the answer is quite straight forward. With the given equation $ T^n_0 = \ldots $ you calculate the transformation from the $n^\mathrm{th}$ coordinate frame (attached to the end effector) to the ...

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What's the difference between Pose Measurement and Position Measurement?
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0 votes

referring to your equation $$ \boldsymbol{a}=\boldsymbol{Rb}+\boldsymbol{t} ,$$ the position measurement would be $\boldsymbol{t}$ whilst the orientation measurement would be $\boldsymbol{R}$. These ...

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How to add a magnetometer in an Extended Kalman filter for innovation update?
0 votes

First, you need a model of the magnetic field you are measuring. Have a look at the IGRF model, which is usually used in space applications. There are ready to go implementations for most programming ...

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Jacobian determinant of three degree of freedom robot
0 votes

In order to answer your question it would be interesting why you need the determinandt of the Jacobian... maybe there is another way for your problem.

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