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OMPL (Open Motion Planning Library) is a software package for computing motion plans using sampling-based algorithms.The content of the library is limited to motion planning algorithms, which means there is no environment specification, no collision detection or visualization.
A robotics simulator is a simulator used to create an application for a physical robot without depending on the physical machine, thus saving cost and time. In some case, such applications can be transferred onto a physical robot (or rebuilt) without modification.
The ancient Greek understanding of physics was limited to the statics of simple machines (the balance of forces), and did not include dynamics or the concept of work. During the Renaissance the dynamics of the Mechanical Powers, as the simple machines were called, began to be studied from the standpoint of how far they could lift a load, in addition to the force they could apply, leading ...
The first important work on force control was published in 1980 by John Kenneth Salisbury at Stanford University. [2] In it, he describes a method for active stiffness control, a simple form of impedance control. However, the method does not yet allow a combination with motion control, but here force control is performed in all spatial directions.
The ratio of the output force F B to the input force F A is the mechanical advantage of the lever, and is obtained from the principle of virtual work as = =. This equation shows that if the distance a from the fulcrum to the point A where the input force is applied is greater than the distance b from fulcrum to the point B where the output ...
Here we work off-shell, meaning , ˙ , are independent coordinates in phase space, not constrained to follow any equations of motion (in particular, ˙ is not a derivative of ).
The linear motion can be of two types: uniform linear motion, with constant velocity (zero acceleration); and non-uniform linear motion, with variable velocity (non-zero acceleration). The motion of a particle (a point-like object) along a line can be described by its position x {\displaystyle x} , which varies with t {\displaystyle t} (time).
Ideal projectile motion states that there is no air resistance and no change in gravitational acceleration.This assumption simplifies the mathematics greatly, and is a close approximation of actual projectile motion in cases where the distances travelled are small.