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| Both sides previous revisionPrevious revisionNext revision | Previous revisionLast revisionBoth sides next revision |
| ece4560:piktul:06resratevec [2017/11/04 19:07] – [Piktul: Resolved Rate End-Effector Movement] pvela | ece4560:piktul:06resratevec [2017/11/04 19:08] – pvela |
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| $\alpha$ 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 | $\alpha$ 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} | \begin{equation} |
| \dot a = {\rm pinv}(\ {rm Jac}(\alpha)\ ) * v(t). | \dot a = {\rm pinv}(\ {\rm Jac}(\alpha)\ ) * v(t). |
| \end{equation} | \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. | For sure you will reuse the ''followJointTrajectory'' function to make it happen. The script you wrote for the last homework can be recycled and modified to work for this problem. |
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| **Tips:** You can always use the ''piktul_display'' function to test out the code. If you can get the resolved rate code working to generate the joint angles versus time, then using ''piktul_display'' in a loop will display it as a movie in a Matlab figure (it's good for debugging at home, then coming in to the lab to simply demo). Remember to include the '''drawnow'' command at the end of the loop to force the figure to refresh. | **Tips:** You can always use the ''piktul_display'' function to test out the code. If you can get the resolved rate code working to generate the joint angles versus time, then using ''piktul_display'' in a loop will display it as a movie in a Matlab figure (it's good for debugging at home, then coming in to the lab to simply demo). Remember to include the '''drawnow'' command at the end of the loop to force the figure to refresh. |
