ece4560:lynx6:05resratepos
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ece4560:lynx6:05resratepos [2017/11/16 18:18] – pvela | ece4560:lynx6:05resratepos [2023/12/03 11:58] – classes | ||
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Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. | Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. | ||
- | For this problem, attempt to generate a trajectory from the initial position $Pos(g_i) = d_i$ (given in previous [[ECE4560: | + | For this problem, attempt to generate a trajectory from the initial position $Pos(g_i) = d_i$ (given in previous [[ECE4560: |
- | Since the initial joint values $\alpha$ were known, the start condition is | + | |
- | known. | + | |
- | (in the world frame) for the allotted time. | + | |
- | be converted from the world frame to the body frame via the inverse | + | |
- | transformation $\inverse{g_e}(\alpha(t))$ as the manipulator moves. | + | |
- | Turn in the time varying signal $\xi(t)$ that gets computed along the | + | |
- | trajectory for the constant | + | |
- | Using the past resolved rate trajectory generation code for {\tt piktul} | + | Using the [[ECE4560: |
- | as an example, add the necessary functions that will do so for the {\tt lynx6}. | + | Call the function |
- | Call the function | + | structure field, not the configuration structure field. The output of the system should be a set of joint angles versus time that will move the arm to follow the specified position trajectory. |
- | of $E(3)$ function of time and velocity function of time is given | + | |
- | in a structure built with {\tt traj.pvec}, {\tt traj.pdot}, and {\tt | + | |
- | traj.tspan}. In reality, you will probably only need the velocity | + | |
- | structure field, not the configuration structure field. | + | |
- | The output of the system should be a set of joint angles versus time that | + | |
- | will move the arm to follow the specified position trajectory. | + | |
- | in the output format of {\tt ode45} and should be in a structure with | + | |
- | the fields as per: {\tt jtraj.alpha} and {\tt jtraj.time}. | + | |
- | You will also need to write a function called | + | You will also need to write a function called |
- | that computes the (linear and angular) body velocity | + | For sure you will also reuse the '' |
- | as a function of the $\alpha$ coordinates. | + | the proper slash command (is it forward or backslash for over-determined |
- | For completeness, | + | |
- | last one will just have a zero column since it doesn' | + | |
- | movement, it just opens/ | + | |
- | For sure you will also reuse the {\tt followJointTrajectory} function to | + | |
- | make it happen. | + | |
- | recycled and modified to work for this problem. | + | |
- | position should be followed, all that you will need is the top three rows of | + | |
- | the Jacobian for the position part. Use the {\tt pinv} Matlab function or | + | |
- | the proper slash command (is it forward or backslash for overdetermined | + | |
- | systems?). | + | |
- | Let's check to see if the manipulator is really following the trajectory. | + | === Deliverables === |
- | Plot the end-effector position as a function of time, as well as the | + | |
- | straight line path. They should be close, if not equal. | + | |
- | position as a function of time, as well as the position as a parametric | + | |
- | plot. | + | |
- | {\em Tips:} You can always use the {\tt lynx6\_display} | + | 1. Let's check to see if the manipulator is really following the trajectory. Plot the end-effector position as a function of time, as well as the straight line path. They should be close, if not equal. |
- | | + | |
- | | + | 2. Plot the joint angles versus time. |
- | in a loop will display it as a movie in a Matlab figure. | + | |
- | | + | 3. As requested, make sure to turn in the body velocity versus time. The body velocity can be provided as two plots, one for the linear velocity and one for the angular velocity. |
- | | + | |
+ | 4. Demo the '' | ||
+ | |||
+ | === Testing ==== | ||
+ | |||
+ | //Tip:// You can always use the '' | ||
+ | in a loop will display it as a movie in a Matlab figure. | ||
| | ||
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ece4560/lynx6/05resratepos.txt · Last modified: 2023/12/03 12:03 by classes