Hello there, hope you are doing great.
Right now I am trying to control youbot to pick and cube and place it to a certain position, on simulation. However, I believe that the reference trajectory is very prone to singularities. Because of that, I am trying to create a reference trajectory that does not contain singularity possibilities.
I am trying on new initial end-effector configurations for the youbot. However I need to extract Tsb matrix (base frame relative to space frame) from the Tse (end-effector frame, relative to space frame) matrix. Because, in order to tune my PI gains, I need to start the robot with 0 error. How can I manage to do that? For example to get Tse from Tsb I do this:
Tse = Tsb * Tb0 (which has a fixed value) * T0e (comes from Forward Kinematics)