
There is a trend in robotics towards the use of backdrivable actuators due to multiple reasons. One of them, is the need of sharing the environment with humans. Such a robot needs flexibility to adapt the differences between real environmental…
There is a trend in robotics towards the use of backdrivable actuators due to multiple reasons. One of them, is the need of sharing the environment with humans. Such a robot needs flexibility to adapt the differences between real environmental…
The simplest velocity estimation method is the Euler approximation that takes the difference of two sampling positions divided by the sampling period. Typically the position measurements are taken with encoders or resolvers which contain stochastic errors which result in enormous…
Analise the correct parameters that must be taken into account when selecting a motor is crucial for the success of the application.
Robots with closed loops This is the second post about robot modelling. In it I explain the modelling of robots with closed loops. It is common of several manipulators, especially those ones with bigger payloads, to include a closed loop in the…
Defining the dynamic model The conventional robotics equation describing the inner forces (1) of a kinematic chain of rigid forces in the absence of external forces can be obtained by employing any established algorithm, e.g. Newton-Euler iterative method or the…