Introduction to robot modeling in ROS 2
Let’s start by understanding robot modeling and its relevance in building robot software.
What is robot modeling?
Robot modeling is the process of developing a mathematical and conceptual representation of a robot’s structure, kinematics, dynamics, and functionality. The process mainly concerns the robot’s physical and mechanical characteristics, such as how the robot looks, how many links and joints are present, and the shape and size of each link. It also defines dynamic parameters like mass and inertia and additional information like sensors/actuators present in the robot.
Here are important types of modeling within robot modeling:
- Kinematic modeling: A robot is a combination of links and joints. Links are the rigid body part of the robotic system, and joints are the interconnection of multiple links. The links and joints are mainly responsible for the robot’s motion. Robot kinematics is...