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Weird motion I'm pretty sure it happen because you make wrong implementation on orientation control. Orientation of end-effector There are 4 main representation of end-effector orientation which is axis angle, rpy (expanded into 6 types), euler angle (expanded into 6 types) and unit quarternion. Normal jacobian derived freshly from forward kinematic ...


Can you set up the problem so that the quantities you care about (e.g. power) are more explicitly represented? Reasoning physically, where could the power go? Accelerating masses, including rotation Pushing against gravity, electromagnetics, other potentials Stretching springs and whatever Dissipation through friction You say "optimize power ...


The angle of the wall can be measured using only one sensor but with two readings over a short time period. One PID could then be used to keep the distance to the wall the same over time.

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