Day 011.3 - interpolate the joint angles T T f Joint-Space...

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Joint-Space Path 1/27/2012 11 a joint-space path is computed considering the joint variables link 1 link 2 end effector path
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Joint-Space Path Joint Angles 1/27/2012 12 linear joint-space path link 1 link 2
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Joint-Space Path 1/27/2012 13 given the current end-effector pose and the desired final end-effector pose find a sequence of joint angles that generates the path between the two poses idea solve for the inverse kinematics for the current and final pose to get the joint angles for the current and final pose
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Unformatted text preview: interpolate the joint angles T T f Joint-Space Path 1/27/2012 14 T T f = n q q q Q 2 1 = n f f q q q Q 2 1 inverse kinematics inverse kinematics Joint-Space Path 1/27/2012 15 find Q from T find f Q from f T t = 1 / m Q = f Q Q for j = 1 to m t j = j t j Q = Q + t j Q set joints to j Q end...
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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 011.3 - interpolate the joint angles T T f Joint-Space...

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