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You're computing the spatial Jacobian, which relates joint velocities to spatial velocities at the origin. You instead want to compute the body Jacobian, which relates joint positions to velocities at the end-effector expressed in the end-effector frame. So in your 2R example what you want to do is to compute the body Jacobian then pre-multiply the matrix by ...


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The RR manipulator is commonly used as shorthand for a two revolute joint configuration in a single plane. This provides a reduced configuration space which is helpful for research and education use. RRR is as you guessed a 3 joint system but usually still remaining in the plane. I don't believe that there's an official definition for this but it's more of a ...


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It's explained on the video description: In this research, a methodology for sensor-less full body active compliance was used on a 6-DOF RSS (Rotary-Spherical-Spherical) parallel manipulator. The manipulator can detect and comply with the external forces on any part of its body without using any explicit force/torque sensor at the joint or the end-effector. ...


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When you think about the mechanism the gears are offset, but the joint itself has an axis. You should use that axis which may not be overlapping/coincident with the link attached to the bevel gear. I found a few tutorials that you may find useful: https://blog.robotiq.com/how-to-calculate-a-robots-forward-kinematics-in-5-easy-steps https://automaticaddison....


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tl;dr: don't worry about it Your system really operates in continuous time, described by differential equations. It's a convenient, even necessary, approximation to use discrete time and difference equations. The dynamics solution would result from integrating the differential equations; the difference equations approximately solve the problem by doing ...


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