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The frames are considered inertial because we are not considering "dynamics" (read: acceleration). Essentially, as far as my experience goes with MR, all the math around frames in the book considers that you are momentarily frozen in time, "viewing" that state of the frame at that instantaneous time. Because of this it is considered ...


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First thing first- you can consider any direction as positive or negative, but need to keep it constant while solving the problem and even while programming robot. In almost all cases of 6-DOF manipulator, the co-ordinate system of joint 1 is aligned with the universal coordinate system. Theta- its joint parameter, it signifies angle between 2 x-axis about ...


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I decided to build a V-plotter. I am using Arduino based software. I'd like to adapt your V-plotter math solution. Can you solve an example problem with your calculations? Can you help me. I will be waiting for your answer. thank you


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A joint angle $\theta_n$ is defined as the angle between $X_{n-1}$ and $X_n$ measured about $Z_{n-1}$. In the case of $\theta_3$, please notice that there is an initial angle of $+\pi/2$ (anti-clockwise direction) between $X_2$ and $X_3$, when measured about $Z_2$. Hence, that additional $+\pi/2$ comes in the picture.


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