4

Actually, the 6x1 vector is sometimes better referred to as the coordinates of the twist. The twist itself is a 4x4 matrix, element of $SE(3)$, found by $$ \begin{align} A &= \begin{bmatrix} \widehat{\omega} & v \\ 0 & 0 \end{bmatrix} \\ v &\triangleq -\omega \times q \end{align} $$ where $\omega$ is the unit vector pointing along the axis of ...


3

They are two different ways of getting the same thing. Correctly set D-H parameters will give the exact same kinematics and dynamics as correctly set POE parameters. There are well-defined (although tedious) ways to convert between the two. So "better" or not purely is up to user preference. Some people prefer D-H because for many setups they give a unique ...


2

I recently worked with DH parameters to define kinematics of my Dual Arm Robot. As per my knowledge and experience, for kinematics I can say that DH Param will be good to use it since that gives you exact location and orientation (provided the table you made is correct) of each link of the robot. I had to work for collision detection between both the arms of ...


2

The Jacobian in that equation is from the joint velocity to the "spatial velocity" of the end effector. The spatial velocity of an object is a somewhat unintuitive concept: it is the velocity of a frame rigidly attached to the end effector but currently coincident with the origin frame. It may help to think of the rigid body as extending to cover the whole ...


2

Lynch and Park's Modern Robotics book uses the product of exponentials formula and screw axes to describe manipulators, and they have a well-documented library available in Python, MATLAB, and Mathematica. Plus there is a community-released C++ port using CMake/Eigen. Book is available on this site (for free): http://modernrobotics.org/ Original library is ...


1

Try looking for terms like robot calibration, robot kinematic calibration or kinematic calibration. Have a look at Chapter 6 of [1]. [1] Springer Handbook of Robotics, Eds: B.Siciliano, O.Khatib, 2016


1

I'm working through this book right now at that particular section. Looking at the example on page 105 / section 3.3, with the elbow manipulator, it looks like once you define appropriate points q_w and p_b, you express them in the base frame S (as is every other quantity so far from the preceeding section). So here's what I would do. Try q_w = (0, l1+l2,...


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