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| ece4560:lynx6:06resratefull [2017/11/16 18:56] – pvela | ece4560:lynx6:06resratefull [2023/12/03 12:19] (current) – classes |
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| flow according to the velocity $\xi$ for the allotted time. | flow according to the velocity $\xi$ for the allotted time. |
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| === Setup/Implementation === | === Setup / Implementation === |
| Using the past resolved rate trajectory generation code for ''piktul'' as an example, add the necessary functions that will do so for the ''lynx6''. Call the function ''genTrajectory'' where it is assumed that some kind of $SE(3)$ function of time and body velocity function of time is given in a structure built with ''traj.gvec'', ''traj.gdot'', and ''traj.tspan''. In reality, you will probably only need the body velocity structure field, not the configuration structure field. The output of the system should be a set of joint angles versus time that will move the arm to follow the specified trajectory. It can be in the output format of ''ode45'' and should be in a structure with the fields as per: ''jtraj.alpha'' and ''jtraj.time''. | Using the past resolved rate trajectory generation code for ''piktul'' as an example, add the necessary functions that will do so for the ''lynx6''. Call the function ''genTrajectory'' where it is assumed that some kind of $SE(3)$ function of time and body velocity function of time is given in a structure built with ''traj.gvec'', ''traj.gdot'', and ''traj.tspan''. In reality, you will probably only need the body velocity structure field, not the configuration structure field. The output of the system should be a set of joint angles versus time that will move the arm to follow the specified trajectory. It can be in the output format of ''ode45'' and should be in a structure with the fields as per: ''jtraj.alpha'' and ''jtraj.time''. |
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| You will also need to write a function called ''Jacobian'' that computes the (linear and angular) body velocity of the end effector as a function of the $\alpha$ coordinates. For completeness, you should include all $\alpha$ 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). For sure you will also 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. | You will also need to write a function called ''Jacobian'' that computes the (linear and angular) body velocity of the end effector as a function of the $\alpha$ coordinates. For completeness, you should include all $\alpha$ 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). For sure you will also 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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| //Note:// Probably you will notice we are in the kinematically insufficient case, for which I said one should never try to do the psuedo-inverse since it will be wrong always. That is the case here, regarding being wrong. Probably I should just be doing resolved rate trajectory generation with the end-effect position and ignoring the orientation, or making sure that my desired trajectory is legit. For the sake of this problem, let's just ignore this untidy fact and pretend it's all good. | //Note:// Probably you will notice we are in the kinematically insufficient case, for which I said one should never try to do the psuedo-inverse since it will be wrong always. That is the case here, regarding being wrong. Probably I should just be doing resolved rate trajectory generation with the end-effect position and ignoring the orientation as for the [[ece4560:lynx6:05resratepos | previous resolved rate implementation]], or making sure that my desired trajectory is legit. For the sake of this problem, let's just ignore this untidy fact and pretend it's all good. |
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| === Deliverables === | === Deliverables === |
