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Related Concept Videos

Torque01:10

Torque

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Torque is an important quantity for describing the dynamics of a rotating rigid body. We see the application of torque in many ways in the world, such as when pressing the accelerator in a car, which causes the engine to apply additional torque on the drivetrain. Here, we define torque and provide a framework to create an equation to calculate torque for a rigid body with fixed-axis rotation.
Torque can be considered as the rotational counterpart to force. Since forces change the translational...
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Net Torque Calculations01:19

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When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to...
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Rigid Body Equilibrium Problems - I00:49

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A rigid body is said to be in static equilibrium when the net force and the net torque acting on the system is equal to zero. To solve for rigid body equilibrium problems, do the following steps.
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Torque Free Motion01:15

Torque Free Motion

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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Two-Dimensional Force System: Problem Solving01:29

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
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An Adaptive External Torque Estimation Algorithm for Collision Detection in Robotic Arms.

Cheng Yan1, Ming Lyu1, Yaowei Chen1

  • 1College of Automation, Nanjing University of Science & Technology, Xiaolingwei Street, Nanjing 210094, China.

Sensors (Basel, Switzerland)
|October 29, 2025
PubMed
Summary
This summary is machine-generated.

This study introduces a novel algorithm for estimating external torque in robots, enhancing safety during human-robot collaboration. The method uses variational Bayesian Kalman filtering to prevent collisions in dynamic environments.

Keywords:
bayesian estimationcollision detectionrobotic armtorque estimation

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Area of Science:

  • Robotics
  • Control Systems
  • Artificial Intelligence

Background:

  • Human-robot collaboration is expanding into complex, dynamic environments.
  • Ensuring safety in shared workspaces is critical, as precise motion planning alone cannot prevent all collisions.
  • Accurate external torque estimation is essential for intelligent and safe human-robot interaction.

Purpose of the Study:

  • To develop an advanced external torque estimation algorithm for robotic manipulators.
  • To enhance the safety and intelligence of human-robot collaboration at the task execution level.
  • To address the challenge of preventing collisions in shared workspaces.

Main Methods:

  • Review of robot dynamics framework and generalized momentum-based external torque estimation.
  • Derivation of a Kalman filter-based approach for external torque estimation.
  • Introduction of a sliding window-based variational Bayesian Kalman filter for dynamic process noise covariance estimation.

Main Results:

  • The proposed algorithm integrates the robot's dynamic model without adding system complexity.
  • Adverse effects of process noise covariance mismatches in Kalman filtering were analyzed.
  • The variational Bayesian Kalman filter dynamically estimates process noise covariance, mitigating recursive error accumulation.

Conclusions:

  • The developed algorithm offers a robust solution for external torque estimation in robotic systems.
  • This approach improves safety in human-robot collaboration by mitigating collision risks.
  • The method enhances the intelligence of robots operating in dynamic and shared environments.