Assuming the current configuration of the robot is θ = (0, 90, 0, 10, 20, 30) in degrees, and the tracked feature point [? ? ?]^T = [300 200 2.25 m]^T, Please write the Matlab code to map the relationship between the velocities of the robot joints and the
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Description
The task is:
Assuming the current configuration of the robot is θ = (0, 90, 0, 10, 20, 30) in degrees, and the tracked feature point [? ? ?]^T = [300 200 2.25 m]^T, Please write the Matlab code to map the relationship between the velocities of the robot joints and the feature point.
And matlab code for determine the position of the spherical wrist center with
respect to {0} frame in the configuration θ = (0, π/2, 0, θ4, θ5, θ6), for arbitrary θ4,
θ5 and θ6.
Instruction Files
Assignment.pdf
208.6 KB
