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 [DPRG] Velocity Profiling move of RC Servos Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] Previous message: [DPRG] Velocity Profiling move of RC Servos Next message: [DPRG] Velocity Profiling move of RC Servos Subject: [DPRG] Velocity Profiling move of RC Servos From: Kipton Moravec kip at kdream.com Date: Sun Dec 8 17:35:01 CST 2002 ```> > Once an arm is completely profiled, the data is > > installed in a kinematics > > model of the manipulator and you use inverse > > kinematics to accomplish > > specific work cell goals. > > You, or anyone, got a good site or reference on kinematics and > inverse kinematics? My robotics Professor C.S. George Lee, at The University of Michigan was a nut about inverse kinematics. He was writing a book about it, and our class used the drafts of the book and found the errors in the equations in the book. (Not easy!) This was in 1982 so I am sure they were fixed before his book was published. Here is his bibliography. http://www.ece.purdue.edu/~csglee/book.html There are two ways to make the calculations which end up with the same result. Basically we were solving the torque on each joint of an n-jointed (usually 6) based on the position, velociety, and acceleration (and mass and inertia) of all the joints above it. Lots of matrix multiplications. Nasty formulas for both revolute (rotating) and prismatic (telescoping) joints at any position. We had to do the calculations both ways to make sure it was right. It was almost impossible to do more than a 2 jointed arm with a calculator. And in 1982 we did not even have 4.77 MHz PCs. (I wish I had Excel back then!) Kip ``` Previous message: [DPRG] Velocity Profiling move of RC Servos Next message: [DPRG] Velocity Profiling move of RC Servos Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] More information about the DPRG mailing list