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The system has 2 DOF! Your assumption The actuation focres also remove 1 DOF each. is wrong. Generally you can always use a simple proof about the DOF. In your system you have 3 generalized ...

Each joint of your robot is one motor. They are coupled though kinematic relations and dynamic physics. One straight forward way is to derive these so called 'equations of motion' using the euler-...

The matrix $C$ usually is denoted the output matrix of your system. So e.g. if you are interested in the 3 positions $x,y,z$ your matrix would look like $C=\begin{bmatrix} 1 & 0 & 0 & 0 &... View answer 1 votes not a direct answer, but I would recommend you the following lessons by Peter Corke: robotacademy: joint control View answer 1 votes suppose you calculate the positions of your joints$p_i, i=1\ldots6$using your homogeneous matrices. The best solution in my experience is to plot the initial configuration e.g. like this: // calc ... View answer 1 votes I would say the transferfunction becomes$\frac{1}{s^2}$iff you assume you have a perfect drive without any dynamics. Since this system is unstable you have to be careful choosing your controllers. ... View answer Accepted answer 0 votes Well, the answer is quite straight forward. With the given equation$ T^n_0 = \ldots $you calculate the transformation from the$n^\mathrm{th}$coordinate frame (attached to the end effector) to the ... View answer Accepted answer 0 votes referring to your equation $$\boldsymbol{a}=\boldsymbol{Rb}+\boldsymbol{t} ,$$ the position measurement would be$\boldsymbol{t}$whilst the orientation measurement would be$\boldsymbol{R}\$. These ...