Day 011.2 - Generation 1/27/2012 9 Path Generation...

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Spherical Wrist 1/27/2012 6 + + = = 1 0 0 0 6 5 5 6 5 6 5 6 5 4 5 4 6 4 6 5 4 6 4 6 5 4 6 5 4 5 4 6 4 6 5 4 6 4 6 5 4 5 6 4 5 3 4 3 6 d c c s s c s d s s s s c c s c s s c c c s d s c s c c s s c c s s c c c T T T T ( ) ( ) 31 32 6 13 23 4 5 neg 5 , atan2 , atan2 0 , for r r r r s = = < θ
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Spherical Wrist 1/27/2012 7 if θ 5 = 0 + + = = 1 0 0 0 6 5 5 6 5 6 5 6 5 4 5 4 6 4 6 5 4 6 4 6 5 4 6 5 4 5 4 6 4 6 5 4 6 4 6 5 4 5 6 4 5 3 4 3 6 d c c s s c s d s s s s c c s c s s c c c s d s c s c c s s c c s s c c c T T T T + + = 1 0 0 0 1 0 0 0 0 0 0 6 6 4 6 4 6 4 6 4 6 4 6 4 6 4 6 4 d c c s s s c c s c s s c s s c c
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Spherical Wrist 1/27/2012 8 continued from previous slide + + = 1 0 0 0 1 0 0 0 0 0 0 6 6 4 6 4 6 4 6 4 6 4 6 4 6 4 6 4 d c c s s s c c s c s s c s s c c = + + + + 1 0 0 0 1 0 0 0 0 0 0 6 6 4 6 4 6 4 6 4 d c s s c only the sum θ 4 + θ 6 can be determined
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Using Inverse Kinematics in Path
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Unformatted text preview: Generation 1/27/2012 9 Path Generation 1/27/2012 10 a path is defined as a sequence of configurations a robot makes to go from one place to another a trajectory is a path where the velocity and acceleration along the path also matter...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 011.2 - Generation 1/27/2012 9 Path Generation...

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