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ece4560:piktul:03invkin [2017/10/09 21:06] – pvelaece4560:piktul:03invkin [2024/08/20 21:38] (current) – external edit 127.0.0.1
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 case.  Remember what the actuator limits are for the joint states. case.  Remember what the actuator limits are for the joint states.
  
-## Checking Validity+==== Checking Validity ====
  
 Validity of the results can be done by applying the forward kinematics routine to the found joint angles. It should return the configuration requested.  A more fun  option would be to use the ''piktul'' display code to see if it really works out. To visualize the target end-effector configuration, plot it using the SE(3) class with the proper up-conversion of the desired configurations, or the SE(2) class but the height won’t be proper. Validity of the results can be done by applying the forward kinematics routine to the found joint angles. It should return the configuration requested.  A more fun  option would be to use the ''piktul'' display code to see if it really works out. To visualize the target end-effector configuration, plot it using the SE(3) class with the proper up-conversion of the desired configurations, or the SE(2) class but the height won’t be proper.
ece4560/piktul/03invkin.1507597617.txt.gz · Last modified: 2024/08/20 21:38 (external edit)