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0 votes
1 answer
81 views

Inverse Kinematics, indicate if multiple soltuions exist using a matrix

I'm trying to practice inverse kinematics and I'm having a really tough time understanding how you can indicate if multiple solutions exist just using a matrix. I also don't know how I would indicate ...
0 votes
0 answers
332 views

Finding 6 angles for UR5 a 6Dof Robot

I am looking for a method to find 6 rotation angles for the 6DOF, 6joint, 5 link UR5 robot. these angles would be used to control UR5 through ROS but unfortunately I cant find any way to find these ...
2 votes
2 answers
557 views

Matrix Algebra vs Trigonometry for Inverse Kinematics

What method is “better” for solving inverse kinematics for a robot arm: matrix algebra or trigonometry? To define “better”: efficiency/performance vs memory usage generality (how well can it be ...
0 votes
0 answers
105 views

IK Jacobian is always a singular matrix

I am trying to solve an inverse kinematics equation for 6DOF system, 3 rotation and 3 prismatic joints. I am trying to solve using perturbation method, by adjusting each joint and calculating the ...
-1 votes
1 answer
261 views

The modulus of each columns of the rotation matrix is

The modulus of each columns of the rotation matrix is 1, 0.5, 0.866 or 1.366 which one is correct?