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ece4560:lynx6:03invkin [2017/11/09 19:32] – pvelaece4560:lynx6:03invkin [2024/08/20 21:38] (current) – external edit 127.0.0.1
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 ===== Dealing with Kinematic Insufficiency ===== ===== 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.   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.  
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 ===== Position Inverse Kinematics ==== ===== Position Inverse Kinematics ====
 +---------------------------------------
 //Not Required// //Not Required//
  
ece4560/lynx6/03invkin.1510273976.txt.gz · Last modified: 2024/08/20 21:38 (external edit)