Robotics Stack Exchange
Robotics Stack Exchange

Questions tagged [dynamics]

Dynamics is a branch of applied mathematics (specifically classical mechanics) concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes.

Dynamics is a branch of applied mathematics (specifically classical mechanics) concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes.

195 questions
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robotic arm DOF

I'm working on an assignment and was wondering aobut the degrees of freedom this system has. The generalized coordinates are: $\underline{q}:$ \begin{bmatrix} x \\ \theta_{1} \\ \theta_{2} \\ \end{bmatrix} A revolute joint connects both rods.…
abraham lincoln
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When and when not to use the Inertia tensor in Kinetic energy computing?

I'm trying to obtain the dynamic model of a 3D robot (academic problem), I have obtained the D-H table, the transformation matrix for each pair of links and the total transformation matrix. Now I'm struggling with computing the total Kinetic energy…
lu0
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OpenRAVE "fast-forward" physics simulation?

I am working with OpenRAVE simulator and I am using ODE Physics (OpenRAVE plugin to support ODE). I have a robot in an environment and multiple other objects that are subject to the physics engine. I would like to send velocities to the robot for…
Phrixus
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Moment of Inertia of a Dumbbell

hope you are all doing well. I am taking a course at Coursera about Robotics and in one of the quizes, I had some problem with a particular question. I passed the quiz (4/5 correct answers), however I would like to know what was wrong with my…
kucar
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How to solve dynamics of cardan joint manipulator

We can use the Recursive Newton-Euler Algorithm to solve the dynamic problems of open chains manipulator, but how about the Cardan-joint manipulator? For example, if we have one Cardan joint (Universal joint),2 degrees of freedom, like this picture,…
lumw
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Determination of the operational space dynamic model (Task space)

I am trying to implement a hybrid Force/Motion controller for a quadruped. To do that I first need the Inverse Dynamic Model of the robot in Operational Space. I found a lot of resources on how to create the controller but I cannot find any…
Dawi
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Robot with Double Integrator Model

Does the robot described by Double Integrator Model is holonomic ? Let's say we have a robot with dynamics described by equations \begin{cases} \dot x = v, & \\ \dot v = \frac {1}{m}u \end{cases} Where, $x$ is the position of the robot, $v$ is the…
kiabonov
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How to calculate center of mass with a prismatic joint

Suppose we a 1DoF planar robot with only 1 prismatic joint (for the sake of the example). The prismatic joint can extend the link or shrink the link. Suppose the length of link 1 is a, and suppose the center of mass is in the middle of the…
zzzz
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Robot with Double Integrator Model

Does the robot described by Double Integrator Model is holonomic ? Let's say we have a robot with dynamics described by equations \begin{cases} \dot x = v, & \\ \dot v = \frac {1}{m}u \end{cases} Where, $x$ is the position of the robot, $v$ is the…
kiabonov
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Constrained Second Angle Double Pendulum

If I am trying to model the dynamics of a double-pendulum (on a horizontal plane without the effects of gravity), in which the second angle is constrained to range between values of [-10 deg, 10 deg], how would I derive the equations of motion? I'm…
a023kt80
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The IDE using for programming the Atlas robots

ATLAS Gets an Upgrade - the new video of the Atlas robot is out so I'm curious about the IDE with which they are coding this thing.
user1685367
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