anonymous
  • anonymous
For number 2, am I doing this correct? J^b = [Ad(g4g3g2)^-1 * {0;0;1} , Ad(g4g3)^-1*{0;0;1} , Ad(g4)^-1 * {0;0;1}] J^b = [ (g4g3g2)^-1 * {0;0;1} * g4g3g2 , (g4g3)^-1 *{0;0;1} * g4g3 , g4^-1 * {0;0;1} * g4]
GT ECE 4560 - Intro to Automation & Robotics
  • Stacey Warren - Expert brainly.com
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SOLVED
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jamiebookeater
  • jamiebookeater
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anonymous
  • anonymous
The first part looks right but the second part does not. At the end of the homework there is a formula for the matrix form of the adjoint. you need to multiply that by the [0;0;1]s and THEN invert
anonymous
  • anonymous
I thought that was what I did. For example: I multiplied (g4g3g2)^-1 * {0;0;1} * g4g3g2 g4g3g2 is the inverser of (g4g3g2)^-1
anonymous
  • anonymous
O nevermind, I think I understand now. I need to multiply J*d for (g4g3g2), right?

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anonymous
  • anonymous
\[Ad_{h^{-1}}(g) \neq (Ad_h(g))^{-1}\]
anonymous
  • anonymous
You want to do the latter
anonymous
  • anonymous
How would I calculate Js? Would it be: Js = Ad(ge) * Jb ?
anonymous
  • anonymous
Yep
anonymous
  • anonymous
Does Ad(ge) = [Ad(g4g3g2g1)^-1*{0;0;1} * (g4g3g2g1)] ?
anonymous
  • anonymous
I assume you're referring to the 2D case. The formula for the matrix form of the adjoint is given at the end of the homework.
Jaynator495
  • Jaynator495
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