New answers tagged kinematics
1
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Classical DH and Euler angles parametrization
It appears that $R^{3}_{6}$ in equation 3.15 likely arises from the fact that the specific robot in the example has a "spherical wrist" structure. Considering joints $n-2$, $n-1$, and $n$, ...
- 339
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votes
Accepted
Redundancy and Null space projection
If you multiply both members of the equation (3.9) by $J$, you'll get:
$$
J\dot{q} = JJ^+v + \left( J -JJ^+J \right)\dot{q_0}.
$$
Then, we can exploit that $JJ^+=I$, obtaining:
$$
J\dot{q}=v,
$$
which ...
- 3,575
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