New answers tagged kinematics
2
Yes, it is the Jacobian transpose.
The Shadmehr site you cited has been reorganized. The "Forces and torques" chapter is linked to by the lab's publication page.
The F&T chapter has the usual misleadingly concise expression for the Jacobian (unnumbered, following Eq. 9). It uses derivatives of Eq. 9, itself a nasty expression to work with by ...
1
You should decide whether you would like built-in visualization tools or a coordinate frame management system, or something a little more bare-bones.
As stated, transformations.py is bundled with ROS tf and therefore is commonly used around the ROS community. It is primarily useful for constructing raw rotation matrices and homogeneous transformation ...
2
In Lagrangian mechanics, you're required to deal with the generalized forces and the concept of virtual work $\delta W$.
In our case we have:
$$
\delta W_{F_x} = F_x \cdot \delta q_1 + F_x \left( -l_2s_2\right) \cdot \delta q_2,
$$
where the coefficients of the terms $\delta q_i$ are given by $F_x \frac{\partial x_m}{\partial q_i}$. By contrast, $y_m$ doesn'...
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