글
Jacobian as a diagnostic tool
Research/Robotics
2015. 4. 16. 11:37
The following example is the puma 560 manipulator whose joint 5 value equal to zero.
In mathematics, we say the matrix has reduced the rank.
We can consider the velocity ellipse of the robot.
For a set of joint angles which lie on a circle in the plane of all possible joint angle velocities,
we mapped that into an ellipse in the space of all possible end-effector velocities.
'Research > Robotics' 카테고리의 다른 글
| Inverting Jacobian (0) | 2015.04.16 |
|---|---|
| Velcocity of robots in 3D and Jacobian matrix (0) | 2015.04.16 |
| DH parameters (DENAVIT-HARTENBERG PARAMETERISATION) (0) | 2015.03.24 |
| Coordinate mapping for Teleoperation (Ex. Staubli with Phantom omni) (0) | 2015.03.23 |
| Derivative of rotation matrix.. (0) | 2015.03.20 |
