If the last joint does not exist but the rest joint still the same, meaning there is only 5 DoF, does the solution you described still work? Can it still be called a spherical joint?
If i am not mistaken there is a typo for theta 6, the matrix multiplication should go row-column so there is no way the last term coulde be paired with r11 and r22, it should be r11,r21
I want to ask, how can we exactly find the wrist position (wx, wy, wz). The equation that W = P-d6×R is straight forward, however, the R (third column of the rotational matrix of the R0to6) is not given and they are still unknown variable.is that right? Can someone explain it for me pls
@@Determinator21They are Homogeneous Transformation Matrices, look up "Denavit-Hartenberg parameters" you'll learn all about it! Differential equations come when dealing with Jacobian matrices/velocities. 👍
@@Determinator21 They are Homogeneous Transformation Matrices Using Denavit-Hartenberg parameters. Look up "Denavit-Hartenberg parameters" and you'll learn all about it. Basically each set of joints has its own coordinate frame so you need to transform from one to the next etc.. Differential equations are used in Jacobians when dealing with joint velocities. It's a very interesting topic👍
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Best of the best! Thank you very much.🙂
can you give me the documentation for this part, please?
If the last joint does not exist but the rest joint still the same, meaning there is only 5 DoF, does the solution you described still work? Can it still be called a spherical joint?
If i am not mistaken there is a typo for theta 6, the matrix multiplication should go row-column so there is no way the last term coulde be paired with r11 and r22, it should be r11,r21
That"s correct. Thank you.
Hello
It's great lectures.
But How I can get the pdf files for the lectures I didn't find them
I want to ask, how can we exactly find the wrist position (wx, wy, wz). The equation that W = P-d6×R is straight forward, however, the R (third column of the rotational matrix of the R0to6) is not given and they are still unknown variable.is that right? Can someone explain it for me pls
The rotational matrix is known when the desired position and orientation of the end effector are specified in the inverse kinematics problem.
Sorry, I have a question at θ2 there is a3c3, what does c3 mean?
cosine of theta 3, see lecture 6: th-cam.com/video/RzaeS5LLhxA/w-d-xo.html
@@biomechlab Then how to find θ2 and θ3, if a3 is descending?
Are those diff equations?
No they are not.
@@kpm25 what are they?
@@Determinator21They are Homogeneous Transformation Matrices, look up "Denavit-Hartenberg parameters" you'll learn all about it! Differential equations come when dealing with Jacobian matrices/velocities. 👍
@@Determinator21 They are Homogeneous Transformation Matrices Using Denavit-Hartenberg parameters. Look up "Denavit-Hartenberg parameters" and you'll learn all about it. Basically each set of joints has its own coordinate frame so you need to transform from one to the next etc..
Differential equations are used in Jacobians when dealing with joint velocities. It's a very interesting topic👍
@@kpm25 thank you