what you are looking for is written in the paper. Position refers only to x,y,z translational measurements while pose means position and orientation.

Yes, it is the same, $F$ should be the same as $F_{ext}$. And $F$ comes from a sensor or an estimation, in general from a force sensor. The diagram seems correct and you may have $F$ and $F_{ext}$ ...

Imagine that you hold a position very stiff in your arm. You are holding your muscles tight to keep that position and hold it very tightly. Then you walk to move your arm without moving your arm with ...

You could try to use a bezier curve (https://en.wikipedia.org/wiki/B%C3%A9zier_curve) to interpolate with a curve and via points between A and B'. Also, is this a mobile robot or a robot arm? Do you ...

Yes there is. You need to develop or look for the developed equations of velocities that provides the math that transform from the x y theta velocities to the velocities on each of the motors that you ...

Unfortunately is not as straightforward as multiplying them. The Jacobian of B is considering that the first body is fixed to the plane. You would need to add the velocity at that point, which is the ...

You should look into localization algorithms. A good source is the book Probabilistic Robotics - W. Burgard, D. Fox and S. Thrun. If you just want to compute somehow how well it agrees you could try ...

If you use the partial differentiation you can get to that expression as \begin{align} \frac{dJ}{dt} &= \frac{\partial J}{\partial q}\frac{\partial q}{\partial t} \\ \frac{dJ}{dt} &= \frac{\...

The answer is yes, for example many robot computers are based on the linux real-time kernels to handle the real-time constraints. For small robots for teaching like the turtlebot uses a raspberry pi ...

Short answer: you can use it. Long answer: Depend on your case, but I have seen many papers where they use the pseudoinverse of the non-square Jacobian matrix. The rectangular Jacobian matrix opens ...

You can do that in Proteus. You can simulate a stepper motor there, but only to see the motion, it is not possible to simulate the speed, inertia, and mechanical response.

, there is a standard tool for that: rosbag, it can record any message on the ROS network, you can take a look at the following link to see its usage http://wiki.ros.org/rosbag

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. ...

Try a for loop with all possible ids until it is detected.

Seems that the book has an error. You are right, they should correct that. In the drawing it can be seen that those two z-axis are indeed parallel. I recommend that you considered them parallel and ...

Sensing the torque in a stepper motor is not a straightforward task. A method named Field Oriented Control is used to control the torque in a Stepper motor and several companies supply stepper motors ...

Yes it helps but it definitely adds complexity to the planners. Depending on the wheel configuration, how many wheels, the mass of the robot, the moments of inertia, same as the mass of the wheels, ...

You can try to do some optimization of your computations. Things you can try Simplify the expression in your symbolic computation program. In matlab for example this is done with the 'simplify' ...

It is approximate and very accurate as long as the material properties are well defined. Many methods are combined to get it. Moment of inertia, parallel axes, mass distribution, etc etc. ...

You can try the following. Set an admittance you want as $F_e = m_d \ddot q + c_d \dot q$ then, you can solve for $q$ as the velocity reference $q_r = \frac{F_e - m_d \ddot q_r}{c_d}$ and ...

Given that you have your forward kinematics already, you can formulate the dynamic model with the two methods mentioned in the answer by Ababu. Then you can put estimates of your robot parameters (...

You can try to put a capacitor in the motor terminal. Very close to the motor.

You could probably just have the FSM outside the interrupt routine since it is not a time critical function of your system as a PID is. Then in the FSM can update an enable or disable variable that ...

It really depends on your robot kinematics (where is the location of the wheels in the robot frame and what type of wheels it have). There are a lot of resources online to get it from the ...

I will try share some light in this matter. Your understanding of the torque is only valid when the distance vector is not parallel with the axis of rotation (in your case is parallel). In your case ...

the model would be different because of the location of the center of mass of the links, so maybe in one model is just the total length d while in others might only be d/2. To calculate the center ...

You need to develop the differential kinematics of this mobile platform for all of the wheels then you can combine it in your model. Other way to do it is to implement an observer based technique to ...

I believe you refer to first order partial derivatives. It is as easy as to take the forward kinematics from T0n , where n is the point to where you want to take the partial jacobian matrix and do the ...