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Guessing which part is missing in the list is pretty easy. What was provided so far is the robot system itself which contains of the mechanical device, a computer controlled robot and a PC on which the AI software is running. The assumption is that the overall system provides a closed system, which means that the intelligence in the system is able to solve ...


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This is quite a vague question, but from what you provided I would suggest: Check how you are defining your C-Space. Do redundant configurations perform different collision checking? Take a look at the Flexible Collision Library - FCL . Maybe their framework guides you towards a proper arrangement of your overall joint system. Check the Open Motion Planning ...


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When I used to make these types of figures, I would just use PowerPoint (for Windows) or XDraw (for Unix or Solaris), as @504k mentions. First I would make an ellipse with the desired perspective for the front (or top) face. Then I’d copy that ellipse and move it to the back of the viewing plane for the back face. Next I’d draw two lines tangent to ...


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Interesting question. Those drawings are so stylized and so similar, it seems unlikely that they were done with a generic drawing program. Next time somebody encounters one online -- if it wasn't just copied from a textbook -- try to locate contact info for the author, and ask him or her what tools were used to do it. Let's hope the answer isn't always &...


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If you know how to use plot3 and scatter3 from matlab, by extension you can use plot and scatter with matplotlib and matrices with numpy. You can easily create serial linkages from FK matrices generated by numpy and then plot with matplotlib. scatterplot line plot


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solution The arm should stop on Resistence(Torque increase) or detected Impact. Build the arm to be soft. Alternative solution Otherwise the Software can Check if the angle are close to the folddown position and stop moving further.


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There is no specialized tool to draw it, but you can draw these with generic software. You can get very similar diagrams from PowerPoint or Inkscape. Furthermore if you use Latex, here you can find an example using Tikz.


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What you're looking for is doable but it is difficult for beginners. There is a plethora of skills you need. The skills are 1- Mathematical modelling: The first step for any project is to derive the mathematical model of your system. This requires expertise in specific fields. For manipulators, you need to apply, for example, Netwon's laws to derive the ...


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You should look into Energid's Actin SDK, its a commercial product that allows for this. https://www.energid.com/ Full disclosure I work for Energid, and i work with customers doing similar things


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Well, i would address one of your problem : Weird result One thing you need to understand while working with serial manipulator control inverse kinematic is concept of multi solution. With understanding that 6 dof serial manipulator usually consist of anthromorphic arm (basic 2 dof planar robot) and spherical wrist, therefore a multi solution possibly ...


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Nope, you cannot simply plug the maximum joint velocities in the differential forward kinematic law, as you need to guarantee that $\mathbf{v}$ will always point toward the target: in fact, $\mathbf{v}$ is a vector. As a result, you need to solve the inverse kinematics problem first for each point of the path. This can be done iteratively: Assign a desired $...


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Your computations of the transformation matrices are incorrect. DH transformation matrices are computed as a multiplication of four matrices: rotate about z by $\theta$, translate along z by $d$, translate along x by $a$, and rotate about x by $\alpha$. More simply: you are missing the $\theta$ terms in the rightmost columns of your transformation ...


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Since that arm is redundant, there are an infinite number of solutions for the inverse kinematics. Fortunately, Dr. Williams at Ohio U has developed the forward and inverse kinematics for this arm here. He describes the complete forward kinematics, and the inverse kinematics two ways: once for the case where $\theta_3$ is fixed at zero degrees, and again ...


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I think you may have a mistake in python code. That is: slerp_d = slerp * np.log(qf * q0.inverse()) I think the correct one is: slerp_d = slerp * np.log(q0.inverse()*qf)


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