Differences

This shows you the differences between two versions of the page.

--- ece4560:lynx6:03invkin [2017/11/04 19:54] – pvela
+++ ece4560:lynx6:03invkin [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 4: / Line 4: @@
 ===== Dealing with Kinematic Insufficiency =====
+------------------------------------------------
 The Lynx-6 manipulator is not fully dextrous, so many end-effector configurations are simply not possible.  The first logical test is whether the wrist is achievable or not.  The next sensible test deals with the orientation at the wrist: the Lynx-6 cannot arbitrarily reorient.  Still work out the solution as though the wrist does have full $SO(3)$ control.  When you compute the rotation matrix of achievable orientations, you will get a special form.
@@ Line 15: / Line 16: @@
 A more fun option would be to use the ''lynx6'' display code to see if it really works out. To visualize the target end-effector configuration, plot it using the $SE(3)$ class, then see if the end-effector really ends up there.
-===== Position Inverse Kinematics ====
+==== Debugging ====
+To debug your program for the inverse kinematics, it helps a lot to first compute the forward kinematics for easy angles.  Things like the zero configuration (your output should be the zero-vector for $\alpha$).  Then set $\alpha_1$ to something easy, like 45 or 30 degrees.  After that move on to $\alpha_3$ or some other joint that does sensible things, and use easy angles (like $\pm$90 degrees).
+===== Position Inverse Kinematics ====
+---------------------------------------
 //Not Required//