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SolidWorks质量特性详解(惯性张量、转动惯量、惯性主轴)
SolidWorks质量特性详解(惯性张量、转动惯量、惯性主轴)转载 2022-06-22 15:01:58 · 27041 阅读 · 3 评论 -
机器人系统动力学——惯性参数
机器人系统动力学——惯性参数转载 2022-06-18 17:20:57 · 520 阅读 · 0 评论 -
moveit源吗编译报错booost::re_detail::cpp_regex_traits_implementation::transform[abi:cxx11]
1.错误现象:Environment :ubuntu18.04 ,rosl:Melodicboost1.65.1: header files' path : /usr/include , boost lib path: /usr/lib/x86_64-linux-gnu/boost1.58: header files' path : /usr/local/include , boost lib path: /usr/local/lib/use the following command to原创 2022-05-25 15:53:42 · 927 阅读 · 0 评论 -
‘Failed to fetch current robot state‘ when using the ‘plan_kinematic_path‘ service #868
https://github.com/ros-planning/moveit/issues/868https://github.com/ros-planning/moveit/issues/868avoelzcommentedon 27 Apr 2018 Description The 'plan_kinematic_path' service requires at least one second computation time and outputs the message ..转载 2022-05-25 08:59:04 · 653 阅读 · 0 评论 -
franka机器人3d数模
这个是机器人的3D数模 https://download.franka.de/SolidWorks.zip原创 2022-01-04 09:13:49 · 526 阅读 · 0 评论 -
解决[ERROR] libfranka: Move command rejected: command not possible in the current mode!
如果运行franka_ros例程出现[ERROR] libfranka: Move command rejected: command not possible in the current mode!在终端中输入:来消除错误rostopic pub -1 /franka_control/error_recovery/goal franka_control/ErrorRecoveryActionGoal "{}"然后再次运行所要运行的launch或者可执行文件解决方式参考来源:https://.原创 2021-03-23 18:24:51 · 1231 阅读 · 0 评论 -
franka 多笛卡尔目标点连续运动
franka 多笛卡尔目标点连续运动运动完成后rosrun libfranka echo_robot_state 172.16.0.2 | grep theta原创 2021-03-19 13:36:15 · 257 阅读 · 1 评论 -
odeint的runge_kutta4与Matlab的ode45的比较
odeint的runge_kutta4与Matlab的ode45的比较转自:https://www.it1352.com/1602155.htmlI would like to use runge_kutta4 method in theodeint C++ library. I've solved the problem in Matlab. My following code in Matlab to solve x'' = -x - g*x', with initial values x1 .转载 2020-06-24 10:48:50 · 918 阅读 · 0 评论 -
动轴旋转
tf::Transform中的getBasis().getRPY(roll,pitch,yaw)的api文档是不对的/**@briefGetthematrixrepresentedasrollpitchandyawaboutfixedaxesXYZ(此处是错误的,经过实际验证实际上是动轴旋转)*@paramrollaroundXax...原创 2019-10-30 15:29:35 · 800 阅读 · 0 评论 -
定轴旋转
定轴旋转固定轴旋转顺序 x-y-z左乘rotz*roty*rotxlistener.lookupTransform("shoulder_link","upper_arm_link",ros::Time(0),transform_stamped[1]);//(0willgetthelat...原创 2019-10-30 15:09:25 · 739 阅读 · 0 评论 -
kuka iiwa 控制接口开源项目
https://github.com/edoardolamon/HRII_kuka原创 2019-10-11 15:42:37 · 1277 阅读 · 0 评论 -
https://www.magtrol.com/torque-transducer-faq/
Torque Transducer FAQBelow is a list of frequently asked questions regarding the operation of our torque transducers. Should you need further assistance, contactMagtrolor your local sales agent...原创 2019-09-30 19:40:17 · 866 阅读 · 0 评论 -
mit在pr2上实现了一个impedance controller
mit在pr2上实现了一个impedance controller, 思路很清楚:http://wiki.ros.org/ee_cart_imped原创 2019-09-29 21:43:56 · 156 阅读 · 0 评论 -
王兴松,东南大学,机器人技术课程
http://v.dxsbb.com/gongcheng/984/player-0-5.html王兴松,东南大学,机器人技术课程不错原创 2019-08-30 09:03:37 · 708 阅读 · 0 评论 -
linuxcnc IKFAST
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Ikfasthttps://blog.csdn.net/dbdxnuliba/article/details/100127413原创 2019-08-28 21:47:02 · 188 阅读 · 0 评论 -
机器人学相关书籍
机器人学基础(蔡自兴著),机器人学导论(NIKU著),ROS by example(volume 2) (帕特里克著)。戈贝尔,机器人学导论(贠超,王伟著),机器人建模与控制(贾振中著)...原创 2019-08-28 10:03:57 · 357 阅读 · 0 评论 -
机器人学导论,课后习题答案。
https://download.csdn.net/download/wangjiajia3303/8935777转载 2019-01-07 19:53:36 · 22007 阅读 · 7 评论 -
五阶贝塞尔过渡程序
lear;clc;Pstart=[100 200 300];Pend=[600 200 200];P0=[410.2899 489.7101 586.2801];P2=[400 500 600];P1=(P0+P2)/2P3=P2;P5=[400 500 580];P4=(P3+P5)/2vertices=[P0;P1; P2; P3; P4;P5]'%bezier...原创 2019-04-08 21:35:15 · 603 阅读 · 0 评论 -
matlab 机器人学的那些坑
1.puma560的 ikines ,选取逆解的方法太low了,一般选取离某个关节角最近的一组为真实解比较好2.angvec2tr目前看一直旋转轴和旋转角度求解旋转矩阵会有问题避免此bug的方法,是使用quaternion 提供的interp(qs,qe,facotr)因子来求解相应的姿态四元数然后用姿态四元数.R来求解矩阵比较合适,...原创 2019-05-12 15:53:49 · 253 阅读 · 0 评论 -
RPY角及与旋转矩阵的变换关系:在matab与ROS的TF变换库中各自的用法及内在联系
根据机器人学建模、规划与控制Robotics:Modeling,Planning and Control以及ROS TF库中Quaternion头文件的setRPY的声明经过验证可知:同一套理论在不同的库中实现方式不一样,我们需要按照不同的库的协议去使用在使用matlab时,yaw对应RX,pitch对应RY,roll对应RZ和书中...原创 2019-05-23 13:54:38 · 3959 阅读 · 0 评论 -
B样条Nurbs论文
B样条曲线曲面(附代码)https://www.cnblogs.com/nobodyzhou/p/5451528.html采用NURBS插补的G代码解释器设计https://www.docin.com/p-1300301555.html原创 2019-07-22 14:42:41 · 273 阅读 · 0 评论 -
The Control Toolbox ('CT'), is a C++ library for modelling, DARPA Robotics Challenge Finals Humanoid
https://github.com/rxdu/control-toolboxhttps://ethz-adrl.github.io/ct/ct_doc/doc/html/index.html杜博士博客:https://rdu.im/https://github.com/westonrobot/scout_sdkhttps://ethz-adrl.github.io/ct/ct...原创 2019-08-05 22:29:09 · 1263 阅读 · 0 评论 -
RobCoGen: 基于领域专用语言高效的串联机器人运动学和动力学代码自动生成开源框架
RobCoGen相关的文献介绍: :1)论文a code generator for efficient kinematics and dynamics of articulated robots based on domain specific languages下载链接:https://aisberg.unibg.it/retrieve/handle/10446/87778/15...原创 2019-08-06 13:00:41 · 732 阅读 · 0 评论 -
Alessandro De Luca 大神级任务广义动量应用于动力学解决方案
Alessandro De LucaRobot Collisions: A Survey on Detection,Isolation, and Identification广义动量应用于动力学解决方案原创 2019-08-08 23:57:00 · 252 阅读 · 0 评论 -
()很不错)广义动量-位置环-力补偿 Robot Collisions: A Survey on Detection Isolation, and Identification
Robot Collisions: A Survey on DetectionIsolation, and Identification广义动量-位置环-力补偿Alessandro De LucaSami Haddadin , Member, IEEE, Alessandro De Luca , Fellow, IEEE, and Alin Albu-Sch¨affer , Fell...原创 2019-08-24 23:18:16 · 326 阅读 · 0 评论 -
TOPP 算法研究
1)https://github.com/ros-planning/moveit/issues/160As a side note, the algorithm described in "Time-Optimal Trajectory Generation for PathFollowing with Bounded Acceleration and Velocity" by Tobias...原创 2019-08-21 14:51:33 · 1837 阅读 · 0 评论 -
Linux cnc 安装及测试
1. IntroductionThis document describes how to build the LinuxCNC software and documentation from source. This is primarily useful if you are a developer who is modifying LinuxCNC. It can also be use...原创 2019-08-26 21:38:35 · 1020 阅读 · 0 评论 -
Linux CNC 解析
http://linuxcnc.org/docs/devel/html/code/LinuxCNC-block-diagram-small.png系统框图:原创 2019-08-26 21:44:21 · 1384 阅读 · 0 评论 -
[转]基于倍福TwinCAT的平行四边形码垛机器人控制系统设计与实现
https://mp.weixin.qq.com/s/3fpYkHxE_N5b_WdqBTHx8w基于倍福TwinCAT的平行四边形码垛机器人控制系统设计与实现倍福技术之星俱乐部 基于倍福TwinCAT的平行四边形码垛机器人控制系统设计与实现德国倍福 王进,王建成,孔惠增摘要目前国内的平行四边形机器人主要用于码垛,其结构主要有混联式丝杠机构和双平行四边形旋转轴式机构。...转载 2018-11-16 09:22:12 · 3574 阅读 · 1 评论