Where mask indicates that we only care about solving for the first 3 elements of the Cartesian pose (x,y,z). Ignoring the debate about analytical versus numerical solutions I'm going to use a numerical solution since it's general and I have it to hand: > q = r.ikine(T, 'mask', ) Then I computed the forward kinematics for the first and last joint configurations in question: > r.fkine()Īnd the answers match what's in the graphs provided. To explore this I built a model using my Robotics Toolbox for MATLAB > r = SerialLink() To me, the question is about why is the inverse kinematics wrong when applied to a forward kinematics solution computed for joint angles $\ge$ 90 deg.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |