New answers tagged kinematics
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1. What you ask
Ok you already know jacobian is need to map end-effector cartesian velocity into joint angular velocity.
$$\dot\theta=J^{-1}\dot x$$
And I assume, you know how to control the position. For orientation control it similiar to position control but the computation of error it bit tricky. First you need to define what is representation of your end-...
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If you have derived the 6x4 Jacobian, then using the same approach you should derive the 4x4 Jacobian. In the 4x4 Jacobian you will have the X Y and Z positions, and the only orientation you care about.
The only change you need to do in the kinematic equations, based on which you derive the Jacobian, is to make sure the express the orientation of the end-...
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