Timeline for C space for R5 manipulator
Current License: CC BY-SA 4.0
7 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| Oct 13, 2020 at 2:37 | vote | accept | user27243 | ||
| Oct 12, 2020 at 10:33 | comment | added | user27243 | ^that does makes sense! Thank you again! I ll see if i can get that going! | |
| Oct 12, 2020 at 10:21 | comment | added | 50k4 | The axes of your C-Space map are either the same as your operational space (meaning x, y, z a, b) or your axis space (q, ... q5). You can have a projection of this map in 2D or 3D to select e.g. xyz and then somehow add the other two, a and b, or treat all others as 0 until the application runs and then expand the remaining dimensions. | |
| Oct 12, 2020 at 9:59 | comment | added | 50k4 | As the RRT plans, you need to sample the C-Space. For each point at which you need to sample, you either get X or Q. Just use it to see if there is a collision or not... | |
| Oct 12, 2020 at 9:59 | comment | added | 50k4 | You click two points, that means you have a cartesian position, you must defeine an orientation also. I mean, what does the application require as an orientation? Do you need to grip something? do you need to push a button? do you need to weld something? if it is just a theoretical example, you can just put 0 orientation until the whole thing works and then figure out what to do with the orientation | |
| Oct 12, 2020 at 9:55 | comment | added | user27243 | Thank you! I dont have the pose/orientation in the cartesian space either. I do understand your answer though! What i do have is a C-space map with obstacles on it- the way its supposed to work is that I click 2 points on the map (each point corresponding to a certain configuration). The RRT algorithm is then supposed to find the way between the two configs. What I m puzzled with is - how do I assgn a config (q1,q2,q3,q4,q5) to the two points that I select on this map (considering that I dont know what the axis of this map stand for)? Thank you again! (mdpi.com/1424-8220/18/2/571) | |
| Oct 12, 2020 at 9:10 | history | answered | 50k4 | CC BY-SA 4.0 |