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Questions tagged [kinematics]

Kinematics is the branch of mechanics dealing with the motion of points and objects.

Kinematics is the study of mechanics deal with motion of points and objects without regard to the cause of the motion, such as the movement of jointed robotic arm or the movement of pistons and tappets of an engine.

Forward kinematic equations describe the final position of a robotic arm or other system based on the joint parameters.

Inverse kinematic equations describe the joint parameters necessary to move a robotic arm to a particular position. This is also called motion planning.

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Kinect body orientation detection

How can I tell whether a person is facing a Kinect or showing it his/her back? I am using the Microsoft Kinect SDK v1.7.
Zaher Joukhadar
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Ambiguity in DCM to Quaternion conversion using the default Simulink library block

I am simulating a system where I need Direction Cosine Matrix to quaternion conversion. I use the default DCM to Quaternion conversion block available in simulink. However at some points of the simulation, the output quaternion components reverse…
user2134943
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Box2d Bounding Box Without Force

Currently, the Cocos2d-Box2d project is using a b2Vec2 to create a Bounding Box for the edge of the game. Because of this, the bounding Box isn't affecting kinematic bodies, which are bodies that aren't affected by force(meaning that the bodies will…
Wei Pan
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Inverse Kinematic ACos error QNAN, INAN

Hey I am getting a return value of "Not a Number" from the following function: void Spider::setAngles(double x,double y, double l1, double l2){ double theta1, theta2; theta2=acos((pow(x,2)+pow(y,2)-pow(l1,2)-pow(l2,2))/(2*l1*l2)); cout<
user1018539
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Calculate inverse kinematics of 2 DOF planar robot in python

I have a robot that is represented as a list of sequential joints and links: class JointType(Enum): REVOLUTE = 1 @dataclass class Joint: id: str type: JointType angle: float @dataclass class Link: id: str length:…
Blue7
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Does only the noise ratio matter in Kalman filters?

I am working on the capture of sports movements, and in particular on X, Y, Z positions of a set of key points. Since measurements are somewhat noisy, I would like to implement a Kalman smoother with a constant acceleration process model, leveraging…
David Pagnon
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How to construct observable kinematic maps in R ? I have data in form of hdf5 file

install.packages("hdf5r") install.packages("hdf5r") library(hdf5r) #In my case h5read function is not working it’s giving an error data <- h5read("filename.hdf5", "dataset_name") how will I get to know the dataset_name ? x <- data$variable1 y <-…
Deeshani Mitra
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Trouble describing a robot's joint origin/axis using URDF and Pybullet

I have created a complete URDF for my robot in PyBullet, but I'm having trouble getting the joints to rotate correctly. Specifically, when I try to move a joint, it doesn't rotate about the correct coordinate, and the link separates from the body of…
Dan Ringness
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Collada Kinematics Tweening to desired position with three.js and tween.js

I want to replicate the existent example of loading Collada kinematics and using them with my own model, to do so I have created a class as follows: import { Object3D, MathUtils } from "three"; import { ColladaLoader } from…
Bilal
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Compile Orocos KDL C++ robotics kinematics on g++?

Im interesed on know orocos c++ library then I downloaded the source code from the original web site and compile the library successfully on my kubuntu OS. The files were installed on /usr/local/include as well as /usr/local/lib/ folders. The issues…
Edgar Robles Najar
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How to choose an appropriate null-space velocity vector when solving inverse kinematics problem of rendundancy robots?

Recently I'm reading 《Morion Control of Rendundant Robots under Joint Constraints:Saturation in the Null Space》 and have a few questions. 1.In the end of Section 2, the author mentioned that they can obtain the largest possible reduncing factor…
Ranness
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How to move a robot arm in a circle

I have a 6 joint robot arm, and I want to move it in a circle. I want parameters to choose the radius, degrees, and resolution/quality of the circle. How do I do this?
John Doe
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Best Python Package for Animating Robotic Arm

I'm starting a project which will encompass upgrading an old 1983 Yanmar B3 excavator I have sitting in the yard to have a digital read out of bucket position. I will be using a raspberry pi for reading in sensors and generating a GUI which shows…
Mike Dergance
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Inverse Kinematics in python

I'm learning Webots these days and have gone through their example project on inverse Kinematics.(https://cyberbotics.com/doc/guide/irb4600-40) In their example project they are testing Inverse Kinematics for the ABB IRB 4600 robot arm. The…
Dinoj
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How to adjust my basketball-FT(Free throw) simulation to find the necessary torque(s) on joints

I'm working on a simulation of a basketball throw which starts with a angular motion and passes into a projectile motion. Physics set-up of simulation My goal is to get insights on the amount of torque that is applied on joints(like elbow &…
Tigerfire176
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