# Tag Info

Accepted

### How to calculate Exponential coordinates of end_effector from Transformation matrix

The question is, is $[S]θ$ the same as $[Sθ]$ Going by your notation of $[S]\theta\in se(3)$, yes. $se(3)$ is the Lie algebra of the group and $[S]$ forming the matrix form for the spatial vector $S$,...
1 vote

### Standard Notation/Name for Velocity Transformations

This matrix has different names based on what version of screw theory, spatial notation, etc. in which you're using it. In general, when working with these various formulations, the 6-element velocity ...
1 vote
Accepted

### definition of self motion

The example you have given is not self-motion - and I believe you understand why already. Even though the end-effector does not change position, it does change orientation. Mathematically speaking, ...
1 vote

### Parallel spatial mechanism - DOF

Usually, the motion capability of the platform with this kind of constraint can be obtained with the basic DoF formula such as Tsai's Formula, i.e., $F =\lambda(n-j-1)+ \sum f_i$ where $\lambda$ is ...
1 vote

### DH Parameter for OpenManipulator X from Robotis

I struggled with the same thing. I solved it rotating the second frame to a fixed angle, and using the 0.130 m distance. I think this satisfies the DH convention.

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