Day 011_Part_1

Day 011_Part_1 - 33 2 33 pos 5 5 , 1 atan2 , 1 atan2 if r r...

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Day 11 Inverse Kinematics; Trajectory Generation 1/27/2012 1
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Spherical Wrist 1/27/2012 2 d 6 o c o = 1 0 0 0 6 6 0 6 0 R d o o c
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Inverse Kinematics Recap 1/27/2012 3 1. Solve for the first 3 joint variables q 1 , q 2 , q 3 such that the wrist center o c has coordinates 2. Using the results from Step 1, compute 3. Solve for the wrist joint variables q 4 , q 5 , q 6 corresponding to the rotation matrix 0 3 R ( ) 0 6 0 3 3 6 R R R T = = 1 0 0 0 6 6 0 6 0 R d o o c
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Spherical Wrist 1/27/2012 4 for the spherical wrist + + = = 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 ( ) ( ) 33 2 33 neg 5
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Unformatted text preview: 33 2 33 pos 5 5 , 1 atan2 , 1 atan2 if r r r r s − − = − = ≠ θ Spherical Wrist 1/27/2012 5 − + − + − − − = = 1 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 pos 5 , atan2 , atan2 , for r r r r s − = = > θ...
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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_Part_1 - 33 2 33 pos 5 5 , 1 atan2 , 1 atan2 if r r...

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