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--- ece4560:piktul:06resratevec [2017/11/04 19:07] – pvela
+++ ece4560:piktul:06resratevec [2017/11/04 19:07] – pvela
@@ Line 17: / Line 17: @@
 $\alpha$ coordinates in it (the last one will just have a zero column since it doesn't contribute to movement, it just opens/closes the gripper). The implementation should then be
 \begin{equation}
-  \dot a = {\rm pinv}(Jac(\alpha)) * v(t).
+  \dot a = {\rm pinv}(\ {\rm Jac}(\alpha)\ ) * v(t).
 \end{equation}
 For sure you will reuse the ''followJointTrajectory'' function to makeit happen.  The script you wrote for the last homework can be recycled and modified to work for this problem.