Posts by ferik

Hi panic mode,

So sorry for such a delay. Due to political issues in my country there is very low to no connection to the internet and I am afraid I will have some difficulties for a couple of weeks on regular posting

Thanks for correcting me and I will pay attention to those kind of differences.

Attached file is the document I was talking about.

Since it is summarizing I have difficulty following the details.

May I please ask more experienced users to give me some hint and more importantly direction?

Thanks and sorry again for the delay in my responding.

research.pdf

Thanks panic mode for your reply and help,

One thing as an example would be a pdf file about 6 dof written by a person who seems to write it as his/her master thesis and the amount of equations it has for the lagrangian and torque is insanely big. I , as a graduted of physics, has been able to construct terms like that which hardly goes about 2 lines but this case contains nearly 5 pages for one torque.

If it is not against the rules of the forum I can post that file (or the link of it).

I am not complaining but this makes a bit scared as a total beginner. I gues it is mostly related to jacobian.

The same person has written the matlab code and it states that the mass of the engines are equal to 1. If I change the final mass to say 10 then will I get the reasonably correct answer for the torque of the desired motors? Or I should change the entire calculation (scary).

Hi everybody,

I am so pleased to be here and know more about you guys and your works,

This is my first post and I hope you will remind me about better interaction guidelines and directing me to related threads.

I am a total noob about robotics but my major has been in Physics and I already have some familiarity with the math and computing skills related to mechanical systems like robots.

I am recently being involved with a project and am being asked to calculate the torque for an arm robot with 6 DOF since I am the only person among the team who has skills in related topics.

I searched a couple of papers and books and can say that I am a bit confused about the torque calculation mainly because of lack of knowledge on conventions and notations. I am not complaining of course but the lagrangian approach has been mentioned in some thesis and I am wondering if it is ok to simply change the weight and length in existing codes of similar works (in one thesis there was a total matlab code ) and get the appropriate torque for the elbows and engines?

I am ready to take my time learning from scratch but what would be the shortest path to get a totally approximate answer?

Forgive me for relatively vague and illiterate entry. Hope I am being excused as this is my very first step.

Thanks in advance for any help