https://pvela.gatech.edu/classes/ 2026-04-13T06:19:50+00:00 https://pvela.gatech.edu/classes/ https://pvela.gatech.edu/classes/lib/exe/fetch.php?media=wiki:dokuwiki.svg text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:02fkin&rev=1724204336&do=diff Lynx6: Forward Kinematics Following the homework assignment specifications for the Lynx6 manipulator, get the forward kinematics added to the computational functions of the Lynx6 class. * Program the forward kinematics into the Lynx6 class. There should be an empty member function for the forward kinematics. It might be misnamed, so fix the name if that is the case (should be called $SE(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:03invkin&rev=1724204336&do=diff Lynx-6: Inverse Kinematics Using the link lengths of your manipulator as defined in its forward kinematics, work out the inverse kinematics for the Lynx-6 end-effector. That is, given a desired end-effector configuration $g_e^* \in SE(3)$, figure out a joint configuration $\vec \alpha$$SO(3)$$SE(3)$$\alpha$$\alpha_1$$\alpha_3$$\pm$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:04pnp&rev=1724204336&do=diff Lynx6: Pick and Place ---------- As noted in the piktul Pick'N'Place adventure, the value of a robotic arm is in its ability to perform repetitive movements with high precision. While the Lynx-6 is probably more inaccurate than the piktul given that it must contend with gravity effects that impact the joint space, it should perform well enough to reliably pick up an object at the desired configuration with parallel plate grippers (like those of the piktul and most of the Lynx-6 robots).$SE(3)… text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:05resratepos&rev=1724204336&do=diff Lynx6: Resolved Rate Trajectory Generation for Position ---------- Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. Basically, given $\alpha(0)$ and the body manipulator Jacobian, one can use resolved rate trajectory generation to follow a given desired trajectory. $Pos(g_i) = d_i$$Pos(g_f) = d_f$$\alpha$$v$$d_f$$[g_e(\alpha(t))]^{-1}$$\xi(t)$$E(3)$$\alpha$$\alpha$$SE(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:06resratefull&rev=1724204336&do=diff Lynx6: Resolved Rate Trajectory Generation for Configuration ---------- Here, the Lynx6 manipulator Jacobian (using your link lengths) will be used to follow a trajectory. For this problem, attempt to generate a trajectory from the initial $g_i$ from the spline problem that moves with a constant body velocity $\xi$$g_f$$\alpha$$\xi$$SE(3)$$\alpha$$\alpha$$\xi$$g_e(\alpha_f)$$g_e(\alpha(t_f))$$g_{err} = [g_e(\alpha(t_f))]^{-1} g_e(\alpha_f)$$\xi_{err}$$\xi_{err}$$SE(3)$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:07splines&rev=1724204336&do=diff Lynx6: Splining Joint Trajectories ---------- Working with the Lynxmotion manipulator, where the link lengths correspond to your manipulator, get a splined trajectory going. Deliverables Demo your manipulator going through the splined trajectory. text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:calibrate&rev=1724204336&do=diff Lynx6 Calibration The manipulator setup function is called lynx6_calibrate and is what you should invoke to first get acquainted with the manipulator. If you prefer, there is a [pdf file] with this same content. Starting ---------- This function pops open a text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:calibration&rev=1724204336&do=diff Lynx 6: Calibration ---------- This module deals with calibration of the manipulator in the straight-up home configuration (basically the manipulator arm points straight up into the air). A straight up home configuration means that this is the zero configuration for the robot. All joint angles are measured from this reference configuration. Calibration will require measuring the link lengths associated to your manipulator, the servo command limits for each of the joints, and the angular limi… text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:lynx6:interfacing&rev=1724204336&do=diff Manipulator Interface Code: Execution This section further discusses the interface code, beyond the calibration variables. The code described here should not be run until AFTER you have configured and calibrated the manipulator and the lynx6 m-file.