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Search Results for: symbolic

Velocity Coupling

lesson

We describe the velocity coupling terms of the robot as a matrix which represents how the torque on one joint depends on the velocity of other joints.

Inertia and Acceleration Coupling

lesson

We describe inertia of the robot as a matrix which represents how inertia of a joint depends on the position of all the joints, and how the torque on one joint depends on the acceleration of other joints.

Gravity and Payload

lesson

We examine the gravity term and explore the effect of changing robot payload.

Rigid-Body Dynamics

lesson

We can factorise the joint torque expression into an elegant matrix equation with terms that describe the effects of inertia, Coriolis and centripetal and gravity effects.

The Analytic Jacobian

lesson

Now we introduce a variant of the Jacobian matrix that can relate our angular velocity vector back to our rates of change of the roll, pitch and yaw angles.

Analyzing a robot arm that moves in 3D

lesson

We consider a robot with four joints that moves its end-effector in 3D space.

Analyzing a 2-joint planar robot arm

lesson

We consider a robot, which has two rotary joints and an arm.

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  • Queensland University of Technology
  • Australian Centre for Robotic Vision
  • IEEE Robotics and Automation Society
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