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For each joint relation you model, you would get one homogeneous transformation matrix (HTM) T $$T^{i-1}_i$$ If you multiply all HTM from base to end-effector, you would get what is called forward kinematic matrix FK $$FK(\theta) = T^0_N= T^0_1*T^1_2*...*T^{N-1}_N$$ which map joint configuration into cartesian space (represent pose of end-effector). Then for ...


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It has been a while since I worked in V+, the predecessor to EV+, but I think I can answer some questions. The base instruction allows you shift the robot world frame in X, Y, Z, and rotate about Z, but it does not allow you to rotate about X or Y so it cannot invert the arm. The Frame instruction allows you to very accurately define the orientation of a ...


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