[robot]Forward-Kinematics
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Forward Kinematics
degree of freedom
universal join 万向节
grubler’s criterion
where,
对于万向节而言, n为3, j 为2,
所以万向节的自由度为2.
constrain formulation
exercise
Forward Kinematics and DH
Forward Kinematics is used to find the position of end effect.
DH Parameters
DH relies mainly on the X and Z frames
DH 参数只由x,z轴确定。
exercise
function A = compute_dh_matrix(a, alpha, d, theta)ctheta = cos(theta);stheta = sin(theta);salpha = sin(alpha);calpha = cos(alpha);A = [ctheta, -stheta*calpha, stheta*salpha, a*ctheta; stheta, ctheta*calpha, -ctheta*salpha, a*stheta; 0,salpha, calpha,d; 0,0,0,1];end
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