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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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Forward Kinematics on Matlab

hope you are very well. I am studying Forward Kinematics at the moment and was trying to implement the ideas on MATLAB for a simple Robotic Arm: I want to calculate the Transformation matrice for q3 if the joint is rotated 45 degrees…
kucar
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Maximum stoppable velocity given displacement and a contant deceleration at discrete time

I want to find out, what is the maximum speed that I can be walking and be able to brake by reaching displacement 0 with speed 0. I need an equation that works with discrete time. How am I updating and moving the body? First, the speed is…
gustavopsantos
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How to determine when to accelerate and decelerate to reach a given destination?

I'm creating a computer game in which there is a computer-controlled car that needs to travel along a straight line (thus making this problem effectively 1-dimensional) and reach a destination coming to a rest at 0 velocity. This car "thinks" every…
gustavopsantos
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The first speed calculated ball does not go to the target it should go

In the function below, The distance between ball and target is known(R). Also, the angle between the resultant vector and the x-axis is known(LaunchAngle). Thanks to these parameters(R, LaunchAngle), I calculate the initial velocity of a…
Ayşe Betül Şimşek
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Accelerating a point in two dimensions

I have the following Python code: import math x = 0 y = 0 acceleration = 10 angle = 0 vx = 0 vy = 0 time = 10 for _ in range(time): vx += acceleration * math.cos(math.radians(angle)) vy += -acceleration * math.sin(math.radians(angle)) …
BathNinja
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How to calculate the needed velocity vector to fire an arrow to hit a certain point/

Im using Oimo.js Physics library with 3 js. I fire my arrow at a target but my math doesn't seem to be right and I'm having trouble remembering exactly how all the kinematic formulas works. I have an attack function which creates a projectile and…
Derek Lawrence
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Forward and Inverse Kinematics for robot MATLAB

Hope you are doing well. I am verifying the output of my forward kinematics through inverse kinematics and the results are not as desired. As the output of my inverse kinematics is not coming out to be the same as the input of forward…
Capri
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How can time derivatives of angular orientation (attitude) be calculated from quaternion data?

I want to use the quaternion data representing the attitude of a device (e.g. Android and iOS smartphones), during a movement task (e.g. arm movement), to calculate time derivatives of this angular data. Since attitude is angular, the first…
davwillev
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Too many collisions cause lag

I have a scene with one kinematicbody (planet) and I am adding rigidBodies and shooting them at the planet. The problem is, that when I have more than 500 in my scene, the game becomes really laggy and I do not know what to do to prevent it. What…
Lukas Anda
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Obtaining dimensions for Stewart Platform for arm, base and top plate

I am in a need to calculate the Stewart platform dimensions for an application where the Stewart platform top plate can be, consisting of a width of 19Inches maximum, and length 19Inches. Also, the height should not exceed, 25Inches. The Stewart…
Avishka_Adikari
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Making an NPC go up and down in UNITY

So I have this code, it is to make an enemy up and then down using waypoints, it actually works, but for a strange reason after some looping between the waypoints it goes all the way up to the infinity passing the top waypoint (wp0), why is this…
DarkVader
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Error using rotz - Not accepting symbolic argument

So I'm trying to compute some homogeneous transformation matrices using Peter Corke's Robotics toolbox, however when I try to use the "trchain" command: syms a1 q1 q2 trchain('Rz(q1)Tz(a1)Ry(q2)',[q1 q2]) I get the following output: Error using…
H. M
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How to translate left and right motor speeds of a tank to a path/curvature

I'm working on a tank simulation in MATLAB. The tank has two motors, a left motor and a right motor. These can each be individually written to run at anywhere from (-100%) to (+100%) speed. So, if I write L, R = (100%, 100%), each motor will be…
Sam McCauley
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Euler angles of joints in a kinematic chain with constraints

I want to find the euler angles that allow the transformation from the image on th e left-hand side to the image on the right-hand side (see below). Joints A and B have a set of contraints: Local coordinate system XYZ given by the angles [0, 0, 20]…
jcampos
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Python Slingshot Model

I am trying to model firing a projectile from a slingshot. This is my code: from pylab import * import numpy as np from scipy.integrate import odeint import seaborn ## set initial conditions and parameters g = 9.81 # acceleration due to…
nedimk994
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