anonymous
  • anonymous
For HW#14, problem 3, it says that we are not concerning ourselves with orientation. Does this affect our end effector configuration, or is it still: ge(a) = g1(a)g2(a)g3(a)g4 ?
GT ECE 4560 - Intro to Automation & Robotics
schrodinger
  • schrodinger
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anonymous
  • anonymous
It's still that. You just take the position only, don't worry about the orientation.
anonymous
  • anonymous
So, we need Jbody(a) in order to calculate the psuedo inverse. Do we do the same procedure from last HW to find Jbody(a)?
anonymous
  • anonymous
You don't need Jbody this time, just J. The question doesn't as you to use the body velocity or anything to that effect.

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anonymous
  • anonymous
How do we find xi from the (x(t), y(t)) given?
anonymous
  • anonymous
What is xi?
anonymous
  • anonymous
I thought we would calculate alphadot = (psuedo invese) * (xi)
anonymous
  • anonymous
Yes but what do you think is xi?
anonymous
  • anonymous
I would imagine it is some sort of velocity. Would we take the derivative of the (x(t),y(t))?
anonymous
  • anonymous
Yes
anonymous
  • anonymous
I have a 3x1 vector for my psuedo inverse. How do I multiply that by xi = (.5sin(t), .49cos(t) )?
anonymous
  • anonymous
You pseudoinverse should not be 3x1. What formula are you using?
anonymous
  • anonymous
Jsharp = Jbody^T * (Jbody*Jbody^T)^-1 I used the Jbody that we solved for in the last homework and just plugged in our new alpha values
anonymous
  • anonymous
I told you above that you only need J. The manipulator in this homework is different from the one last week and therefore has a different J. Since we are only considering the position and not the orientation, the jacobian should be 2x3. When you apply the formula above you should get (2x3)*(3x3) = 2x3
anonymous
  • anonymous
I have to go
anonymous
  • anonymous
I don't understand how I calculate a 2x3 Jacobian from the information given. Also, I don't know how xi = ( .5sin(t) , .49cos(t) ) can give me a 3x3 matrix.
anonymous
  • anonymous
I have figured out the 2x3 Jacobian. Would my 3x3 xi be : [.49cos(t), -.5sin(t), 0; .5sin(t), .49cos(t), 0; 0, 0 , 1] ?
anonymous
  • anonymous
Your xi would be a 2x1. You may be using the wrong form or the pseudo-inverse. You want your J# to be a 3x2.
Jaynator495
  • Jaynator495
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