"Robotics is the branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing."
Questions tagged [robotics]
160 questions
15
votes
2 answers
Least-squares solution to system of equations of $4 \times 4$ matrices with $2$ unknown matrices
This question is in the context of a robotics problem. The goal is to track a robot using both its onboard odometry system and a VR system (HTC Vive Pro) using a VR controller mounted to the robot.
What is known is the transformation between…
couka
- 151
- 6
9
votes
4 answers
What are the applications of Differential Geometry in Robotics?
I am taking up a grad level course on Differential Geometry. Can any one please tell me the immediate applications of Differential Geometry in Robotics ?
Thanks
Jugesh Sundram
- 375
5
votes
1 answer
Is this measure of how insincere my path marker is always differentiable?
The formal question:
Given $f(x)$, a continuous-but-not-necessarily-differentiable-everywhere function.
Define $g(x)$ as:
$$g(x) = \begin{cases}
0 & \text{if } x \leq 0 \\
\int_0^x \max(f(x) - f(t), 0) \, \mathrm{d}t & \text{if } x >…
dspyz
- 932
5
votes
1 answer
Find out a general expression for the coordinates of a point in a square based on certain distances and an angle
my problem appears to be a very simple one, but I just can't seem to figure it out, maybe I am just overlooking something…
The problem is defined as the following (refer to the figure for better understanding): I have a square of side L and I have…
kousheek
- 53
4
votes
1 answer
How to solve this tricky nonlinear system of trigonometric equations?
I have the following problem I'd like to solve (coming from the loop closure equations of a parallel kinematic mechanism) to the unknowns q2 q3 q4 q6 (4 eqns to 4 unknowns). I already found numerical ways to solve the system, however, I'm interested…
max420
- 61
- 3
4
votes
3 answers
Find Square Size From Inscribed Triangles
I am working on a robotics calibration problem and I've run into a geometry problem that I'm sure has a solution, but I'm not sure how to tackle it.
We have a square and we want to find the size of the square. We know the lengths of BE, CE, and DE.…
Bar Smith
- 261
- 1
- 13
4
votes
1 answer
Problem designing a control law
I am trying to build a posture regulation control which works with acceleration inputs.
Doing it with velocity inputs,I have well understood how it works. Moreover,for now, the controller only controls the position $x,y$ and sends to zero these two…
J.D.
- 415
4
votes
2 answers
Given $a^2+b^2+c^2 = 1$ what type is this matrix?
With $ a^2 + b^2 + c^2 = 1$, what type of matrix is $A$?
$A =
\begin{bmatrix}
0 & a & -b \\
-a & 0 & c \\
b & -c & 0
\end{bmatrix}$
So far I've tested $A$ for several types, I know that $A$ is non-orthogonal, obviously skew-symmetric and…
Hans
- 169
3
votes
1 answer
Differential Form Integral (Work?) on C-Space of Robot Arm?
So, I would like to do an Extra Credit problem for my Vector Analysis course (the last half of a traditional Calc III course) that involves robotics (my new toy). However, it's Week 05 already, I want the Extra Credit released in Week 08, and I…
Jeffrey Rolland
- 907
3
votes
1 answer
Understanding an abstract notion of "frame" for Klein geometries
The Wikipedia page for "Moving frame" introduces the following abstract notion of a "frame" for a Klein geometry:
Formally, a frame on a homogeneous space $G/H$ consists of a point in the tautological bundle $G → G/H$.
Based on the previous…
Adam Williams
- 967
3
votes
1 answer
Derivative of a Rotation Matrix with changing rotation axis
Just to introduce the background of this question: As many of you know a Rotation Matrix can transform a point $^{B}\textrm{p}$ described in a rotated Coordinate Frame {B} into the point $^{A}\textrm{p}$ described in the Coordinate Frame {A}…
1lc
- 33
- 1
- 5
3
votes
1 answer
Quaternions disadvantages in Quadrotor UAV control on $SE(3)$
I am reading a paper which deals with the Geometric Control on $SE(3)$ of a Quadrotor UAV.
At some point it says:
Quaternions do not have singularities but, as the three-sphere double-covers the special orthogonal group, one attitude may be…
desmond13
- 655
3
votes
0 answers
How to get the distance from a top of an arm to a surface?
I am studying computer science and I am working on a project for my next semester. I am stuck with a problem and I am not that good in math. Imagine I have an "arm" shape line where it has 5 nodes A, B, C, D and E. 4 of these nodes have an angle b,…
Kyle Khalaf
- 143
2
votes
0 answers
Mixed integer model predictive control for exploration and exploitation planning
I have a dynamical system $\mathbf{x}_{k+1}=\mathbf{f}(\mathbf{x}_k,\mathbf{u}_k)$ tracking some pre-computed trajectory, $\mathbf{x}_t = (\mathbf{x}_{t,1},\cdots,\mathbf{x}_{t,K})$. Suppose we just have a simple kinematic model with states…
2
votes
2 answers
How to Use Quaternions for Integrals, Differential Equations, Physics and Robotics?
For the case of translation, it is very simple to use Euler's method (among other methods that are far more efficient) to interpolate between positions with increments for time dt while applying forces, torques, and everything. You can keep track of…
Maddy
- 87
- 1
- 8