Where – translation matrix with respect to a axis, and – rotational matrix with respect to a axis. H – homogeneous transformation matrix, which contains the position and rotation of the endpoint in global coordinates. ( is already included in because there is no difference where is located on this link)
With direct kinematics for an ordinary manipulator, everything is pretty simple. And what about the inverse? At a minimum, it’s worth to repeat that it is ambiguous. Let’s start with the two-links manipulator.
I will not copy Wikipedia, tell in my own words. Forward (direct) kinematics is when we know the positions of the motors in the joints and we want to find the position of the gripper (if we take the example of a manipulator).
As I wrote earlier, I could not make friends with the login after the suspension or screen lock – wrote the” wrong password “. Recently I noticed that it turns out to go if I left English before lock, but I cannot login with lock in Russian. I started googling and got to here it is . The problem is not new and still not fixed. The system does not switch the language on the login screen but uses the last one before lock.
I installed Ubuntu 18.04 from scratch (I decided to switch to ROS Melodic ). Understandable that ubuntu did not see nvidia drivers by default. But as it works – do not touch. But I decided to connect a second monitor … I checked hdmi cable … well, the second monitor is not exist anyway.
About a year ago I taught the course “System Identification and Simulation”, but at the very beginning with the professor we decided to check how the masters remember Control Theory. As a result, the half of the semester slid to “Recall All”.
Once I was tinkering with an anthropomorphic robot. I got to the point where I rewrite almost all code from c++ to python. A colleague (more physicist than a programmer) after this trick very quickly (literally in a month) sketched and tested algorithms, and also wrote a graduate work on these algorithms. Readability is an important thing. Continue reading “Pupils, code readability and serious robotics”→