Questions tagged [theory]
The theory tag has no summary.
38 questions
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Understanding bound on bubbles
I've been reading Real-Time Modification of Collision-Free Paths by Sean Quinlan, available here.
Overall, I thought it was really well-written, but I'm having issues understanding equation 4.9 at ...
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Definition for the number of degrees of freedom
From Wikipedia:
The degree of freedom of a system can be viewed as the minimum number of coordinates required to specify a configuration
From Modern Robotics, definition 2.1:
The configuration of a ...
- 101
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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 ...
- 121
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Park and Lynch $F = ma$ derivation for a single rigid body
I'm having some conceptual difficulties with a derivation presented in the Modern Robotics text by Park and Lynch. Here are the relevant parts:
At the beginning of the book, they insist that ${\it all}...
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Hi everybody! I would appreciate some help with this DH convention application. It involves a slider-crank mechanism and I'm not sure I did it right
Okay, I'm editing the post and adding some clarifications: I'm considering the slider-crank now as a closed kinematic chain, and for this reason I isolated two different branches. My attempt with the ...
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Retrieving Denavit-Hartenberg-Parameters from homogenous transformation-matrix
i am trying to implement a matlab script where the user can enter quaternions and retrieve the corresponding denavit hartenberg parameters for this link. My approach is to create the homogenous ...
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3
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Why Does an Exponential Make ANYTHING a Probability Distribution
I am posting this here because my background in estimation theory and optimization has been developed entirely through my experience in robotics.
TLDR: What makes it so that any time you put something ...
- 120
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Cartesian Impedance control Damping Design (Double Diagonalization)
In the literature, it is often seen that for a system:
\begin{align}
\Lambda \ddot{e} + D_d \dot{e} + K_d e = F_{ext}
\end{align}
A dynamic damping matrix is required for a robot to take ...
- 344
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How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?
I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
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What is canonical grasp?
What is a canonical grasp and how is it different from normal/other grasp? I've searched through internet and forums but haven't found any answers.
- 121
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Going from Spline to Differential Drive Command
I have a differential drive robot that needs to move along a path stored in its memory as a spline. I am currently trying to understand the mathematics of determining how much power to apply to each ...
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How is this torque value arrived?
I'm going through this person's torque calculation of a simple crane setup. the servo used has a max torque of 57oz.in:
At the top, if Mservo is 34.12oz.in, how is ...
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Angular velocity in terms of quaternions
Im reading Theory of Applied Robotics, 2nd edition by Jazar, specifically section 7.1, example 207 on page 390. The author is trying to express angular velocity by unit quaternions. Starting from ...
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Moment of Inertia of a planar rotation link with a 6-DOF base
I'm interested in analytic calculation of a moment of inertia of a robot's arm in the following situation.
Let us assume the following:
Stationary reference frame $ \{b\} = \{X_B, Y_B, Z_B\}$ and ...
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Articulated configuration
I'm reading Theory of Applied Robotics, 2nd edition by Jazar. The author states that articulated configuration has the following form: $R \vdash R \perp R$ where $R$ stands for revolute joint, $\vdash$...
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