Questions tagged [robot-model]
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54 questions
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How do you control "torque" of motors in practice?
Many robots can be written using a model of the form (https://underactuated.csail.mit.edu/intro.html)
$$M \ddot \theta + C \dot \theta + g(\theta) = u$$
where $u$ is the generalized torque (in units $...
- 153
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2
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Why model robots when you have forward and inverse kinematic equation?
Forward and inverse kinematics involve finding relationship between the the joint angle and the end effector position.
Let this relation be some function $f$ and let $x = f(\theta)$ be the ...
- 153
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0
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Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds
I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
0
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108
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Steering wheel angle control
I am working on an autonomous vehicle's control, specifically the steering angle control.
Knowing that I used kinematic bicycle model, my questions are:
How do I choose the actuator for my steering ...
- 11
0
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1
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83
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Define system forward dynamics with sympy
I would like to model the dynamics of a robot via the usual discretized system of equations
$$
x_{k+1} = f(x_k, u_k) \qquad x\in\mathbb{R}^{n_x}, \quad f:\mathbb{R}^{n_x}\times\mathbb{R}^{n_u} \to \...
- 281
1
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74
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Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot
I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism.
I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
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2
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1
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140
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Modelling/Theory for Quadraped Robot Leg Example
I have been working on attempting to replicate the following robot developed by some MIT graduates.
https://dspace.mit.edu/handle/1721.1/98948
Presently, I am trying to work out the model for a single ...
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2
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1
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642
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URDF for a real robot
I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
- 85
0
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1
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DH Parameters of a 2 DOF RP Robot
How can I determine the DH parameters of the robot shown in the figure ? As i know, the z axis should show the rotation axis for rotary joints and direction of extension for prismatic joints, so the ...
1
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1
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494
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Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model
I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
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Choose the structure of the dynamic model for the generalized equations of motion of the robot
I ask the robotics specialists for help as I am a little confused.
I have two subsystems which are shown in the picture below:
One of them is a system of stable and controlled differential equations ...
- 183
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2
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138
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Generate robot model for openrave
Is there another way to generate a collada model to work with openrave other than converting an URDF file with ROS' collada_urdf software?
The problem I'm encountering is with the setup needed to use ...
1
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1
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373
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4 Axis Gimbal Nodal Robot DH Parameters
I'm working on a robot gimbal where there are 4 revolute joints (4th axis for gimbal lock, reducing inertia etc). The robot is nodal such that all axes have the same nodal point and rotating any axes ...
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3
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1
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DC motor modelling with Bond Graph
I am trying to construct an equation that describes the output torque as a function of lambda and omega
I have obtained the following bond graph but I am unsure of how to proceed.
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2
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209
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Equations of motion in matrix form and energy consumption
I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known:
$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$
In here, $M(q)$, $...
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