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ME5286CourseNotes7 2017 PDF

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90 views11 pages

ME5286CourseNotes7 2017 PDF

Uploaded by

chris
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We take content rights seriously. If you suspect this is your content, claim it here.
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Computation of the Jacobian

Portions abstracted from H. Asada and J.-J. E. Slotine,


Robot Analysis and Control, Wiley, 1986

2017 Max Donath


Infinitesimal rotations obey the rules of vector addition,
while finite rotations do not.
Df0E D (yaw, pitch, roll)

Yaw, pitch, roll convention based


on ordered ZYZ transformation
See https://en.wikipedia.org/wiki/Cross_product
Example 2: Consider the two D.O.F. planar arm.
1) Resolve the end point velocity to joint velocities
2) Find singular configurations

For derivation of J, see


Example 5.2.1, Textbook (1989)
or
Example 4.5, Textbook (2006)

See http://www.mathwords.com/i/inverse_of_a_matrix.htm
Example 3: Find singular configurations for the 3 D.O.F. wrist

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