Changes between Version 15 and Version 16 of Burt-Research/KinematicsJointRangesConversionFactors


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Timestamp:
Apr 16, 2018, 10:33:00 PM (13 months ago)
Author:
al
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  • Burt-Research/KinematicsJointRangesConversionFactors

    v15 v16  
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    73 
    74 The homogeneous transformation from frame 0 to frame 3 is:
     73The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1.
     74
     75The forward kinematics are determined for any frame on the robot by mulitplying all of the transforms up to and including the final frame. To determine the endpoint location and orientation use the following equation:
     76
     77{{{
     78#!div class="center" align="center"
     79{{{
     80#!latex
     81$^{0}T_{3}=^{0}T_{1}^{1}T_{2}^{2}T_{3}^{3}$
     82}}}
     83 
     84'''Equation 3: Tool end tip position and orientation equation for BURT'''
     85}}}
    7586
    7687{{{
     
    84950 & 0 & 0 & 1\end{array}\right]$
    8596}}}
    86 
    87 The forward kinematics of BURT are used to determine the end tip location and orientation. These transformations are generated using the parameters in Table 1 and the matrix in Equation 1.
    88 
    89 The forward kinematics are determined for any frame on the robot by mulitplying all of the transforms up to and including the final frame. To determine the endpoint location and orientation use the following equation:
    90 
    91 {{{
    92 #!div class="center" align="center"
    93 {{{
    94 #!latex
    95 $^{0}T_{3}=^{0}T_{1}^{1}T_{2}^{2}T_{3}^{3}$
    96 }}}
    97  
    98 '''Equation 3: Tool end tip position and orientation equation for BURT'''
    99 }}}
    100 
    10197
    10298=== Joint Ranges ===