Applications of dynamics in FRC

[llamadon]

Hi all,

In my dynamics class at BYU we have a final project in which we are supposed to model a real life system with dynamic equations. As I was thinking about what to do for the project I wondered if any FRC teams used principles of dynamics in their robot design. I am interested in seeing examples of teams using dynamics in motion profiling, initial design, or anywhere at all in the process of building their robots.

(I am doing this out of curiosity, rather than for help on my project if that makes any difference at all.)

[Knufire]

Originally Posted by llamadon

Hi all,

In my dynamics class at BYU we have a final project in which we are supposed to model a real life system with dynamic equations. As I was thinking about what to do for the project I wondered if any FRC teams used principles of dynamics in their robot design. I am interested in seeing examples of teams using dynamics in motion profiling, initial design, or anywhere at all in the process of building their robots.

(I am doing this out of curiosity, rather than for help on my project if that makes any difference at all.)

971 does do some modeling as part of their software control. I'm not sure if they go through a model all the dynamics of a system or just model it as a MOI on the motor shaft. I know a few teams mentioned that they did some dynamic modeling with can grabbers in 2014.

Motion profiling has gotten more popular in FRC recently since some 254 and 971 mentors gave a seminar at champs that included the topic.

[AustinSchuh]

Originally Posted by Knufire

971 does do some modeling as part of their software control. I'm not sure if they go through a model all the dynamics of a system or just model it as a MOI on the motor shaft.

Moment of Inertia or mass (if it is linear) with a gear ratio is good enough for what we need. We are really only interested in capturing the linear dynamics for controller design.