12/17/2023 0 Comments Doing lengths in babacad![]() TargetZ = z(1) %Print for troubleshootingĮrr = - EndEfS %Print for troubleshootingįullV = ( - EndEfS)*t % Calculate velocity of EE TargetY = y(1) %Print for troubleshooting TargetX = x(1) %Print for troubleshooting # Calculate the velocity of the end effector # Jinv = pinv(J) %Print for troubleshooting %zeroth = % not needed since it's a fixed joint # Create the culumns representing partial diffferentials for each joint # Rb0 = Hb0(1:3, 1:3) %use first three rows and first three columnsĭb0 = Hb0(1:3, 4) %use first three rows of fourth column # Calculate starting locations for each segment #ĭrawLeg(t, x, y, z, Body, CoxaS, FemurS, TibiaS, EndEfS) % Each line has an extra element to help the matrix math 5 %length of coxa in cm aka base (joint 0) to joint 1 in z direction % Start with only z offset for center of robot.Ī0 = 2 %distance from body center to leg 1, UPDATE FROM CADĪ1 =. %body centered graph to make sure it stays in view while walkingįunction = stepLeg (t, Th1, Th2, Th3, x, y, z) Sind(th) cosd(th)*cosd(a) -cosd(th)*sind(a) r*sind(th) įunction drawLeg(t, xp, yp, zp, Body, CoxaS, FemurS, TibiaS, EndEfS)ĬoxaV = įemurV = H = [cosd(th) -sind(th)*cosd(a) sind(th)*sind(a) r*cosd(th) Is there something I?m missing? Code provided below, I?ll mention this is in Ocatave/Matlab.įunction H = Hg(th,a,r,d) % Creates homogenous transform I?ve done a lot of research for examples of inverse Jacobian math but can only find symbolic solutions. And the visuals appear to make sense after the inversion of the arm. I?ve reviewed outputs and haven?t found anything out of the ordinary besides the pseudo inverse. I?ve reviewed formulas, not seeing any issue there. The third and subsequent times, it seems fine. The second time it?s calculated, the values go to extremes causing the arm to basically invert itself. The first time it?s calculated seems fine and the arm moves a little bit toward its target. What I?m running into is trouble solving for the inverse Jacobian. I?ve laid the groundwork for a lot of it drawing the robot, homogenous transform calculation, even calculating the Jacobian. Because this will involve a lot of repletion/trial and error, I am designing a simulator to help me test my pathing so I don?t accidentally break something. Now some background: I am working on a hexapod and trying to design the inverse kinematics and path following for the individual legs. Hi all, first, I have two versions of my question: 1) what is wrong with the way I am trying to calculate the Jacobian and then its pseudo inverse? 2) Does anyone have a good reference for how to solve for the next angles of each joint based on the velocity of the end effector and Jacobian?
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