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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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Translate global to local coordinates

I've got a moving rigid body for which I need to calculate the position of a point on the surface in function of time. I've got the following input: the coordinates of the point of interest in the global coordinate system for the first timestep for…
Blackdrive
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Can I use Instantaneous screw with Finite screw?

I'm trying to calculate angular velocity of each axis by movement of end-effector, If S1 and S2 is finite screw, and S2 had infinitesimal movement from S1. Also, let S1_ be (-)array of S1 and instantaneous screw of S1 is St1 So If I triangle product…
ZAE
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Plotting a surface for a robot reach bubble in Python

I'm trying to simulate a robot reach bubble. The goal would be to export it into a CAD file and visualize the possible workspace. My approach was to plot all potential endpoints using forward kinematics for the robot, considering linkage lengths and…
EugeneZa
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Modelica - Internal error for overconstrained stewart platform model

OpenModelica v1.17.0 (64-bit) OMSimulator v2.0.0.post284-gc8ec782-mingw Modelica Standard Library 3.2.3 Hello, I'm currently working on the implementation of a dynamic model of a Stewart Platform in OpenModelica similar to the one in…
Roberto A.
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How to drive the the motion of a skeleton-based 3D character?

I am working on driving the motion of a skeleton-based 3D character, which is basically a usual 3D model embedded with kinematic skeleton like: I want to change the pose of this 3D character by inputting the joint angles from 3D pose estimation…
Jacob Chang
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Calculate distance on the basis of Angle and Maximum Range

I am working on javascript code where I need to find out distance on the basis of Angle, Initial Height, Velocity, Maximum Range. Example: If an object shoots from the ground (where height = 0) at the angle 45 degree and with the velocity of 3000.…
Rhiya
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How quick must an Object be in is y component to reach a specific peak

I want to add a boost to the player (bottom left) that reaches a specific peak(Point (x,y)). The players horizontal speed (v_x) is constant but its vertical speed can vary. I want to calculate the needed end speed v_y that it needs to reach the…
user10823919
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Python library for rotation and translation on a seesaw-like object

I'd like to do calculations on the 3D positions on both end's of a rigid object (see spot where the children are usually sitting in image below). The geometrical situation of the rigid object corresponds to a seesaw. Rotation has to be possible on…
Thomas Karl
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ZX axis 2 dof orientation interpolation

I have 2 DOF orientation for Z and X axes how can I interpolate between 2 orientations? I have interpolated for 3 DOF orientation with slerp using quaternions and rotation matrix for inverse kinematics, but I could not deal with 2 DOF orientaion…
MUSA
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Solving Denavit Hartenberg Forward Kinematics for n roboticarms with Numpy

EDIT I just solved the problem with numpy's einsum function. Instead of doing T[:,:,:,0]@... I just Matmul'ed the first two with einsum, then the resulting with the next index, and so on. I am currently trying to solve the Denavit Hartenberg…
Thorben Pultke
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How do I animate a rotating link in matplotlib plot?

I will keep the problem simple. Let's say I have a link of length 15 units and I want to make it animate in the matplotlib plot as the value of theta(angle between the link and x axis) varies from 0 to 90 degrees. The link should rotate about the…
Monojit Sarkar
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Python coding: create a new "class" to calculate motion of a projectile

I'm working on a project to create a new "class" in python to do some kinematics calculations. But, I'm having trouble seeing how to build the formula in python given the common physics kinematics equations. Here is the general goal: "Construct a…
Daniel B
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Finding total flight time of projectile with custom gravity vector using kinematic equations

I am currently writing a software that is supposed to predict the exact time and location of impact of a projectile in a 3D environment. The software I've written currently passes 3824 different test cases, all save for 1. In this one failing case,…
Keegan Sommer
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THREE.JS | glTF Morphing targets glTF issue

I'm trying to tweak Particle Dreams demo by Nop Jiarathanakul and port it to newer THREE.JS version and glTF format. While the code has complex structure, I couldn't publish as a snippet, however the current state is available here. It works fine…
VVK
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Projectile Motion in 3D: Calculating Time of Collision

I'm writing a function that takes in an object with a trajectory (including starting position, starting velocity, and acceleration, all represented as Vector3s) in 3D space and if it hits another object, returns the point of collision and time of…
bad coder
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