anonymous
  • anonymous
Hw 14 question #2, I'm having trouble understanding the adjoint formula given in class
GT ECE 4560 - Intro to Automation & Robotics
jamiebookeater
  • jamiebookeater
I got my questions answered at brainly.com in under 10 minutes. Go to brainly.com now for free help!
At vero eos et accusamus et iusto odio dignissimos ducimus qui blanditiis praesentium voluptatum deleniti atque corrupti quos dolores et quas molestias excepturi sint occaecati cupiditate non provident, similique sunt in culpa qui officia deserunt mollitia animi, id est laborum et dolorum fuga. Et harum quidem rerum facilis est et expedita distinctio. Nam libero tempore, cum soluta nobis est eligendi optio cumque nihil impedit quo minus id quod maxime placeat facere possimus, omnis voluptas assumenda est, omnis dolor repellendus. Itaque earum rerum hic tenetur a sapiente delectus, ut aut reiciendis voluptatibus maiores alias consequatur aut perferendis doloribus asperiores repellat.

Get this expert

answer on brainly

SEE EXPERT ANSWER

Get your free account and access expert answers to this
and thousands of other questions

anonymous
  • anonymous
In the notes Dr. Vela expanded the formula\[F _{C}=Ad ^{T}_{g _{C}^{B}}*F _{B}\] as being \[\left(\begin{matrix}fc \\ \tau _{c}\end{matrix}\right)=\left[\begin{matrix}R _{BC}^{T} & 0 \\ -R _{BC}^{T}*dhat _{BC} & R _{BC}^{T}\end{matrix}\right]*\left(\begin{matrix}f _{B} \\ \tau _{B}\end{matrix}\right)\] but when I calculated this I got a 4x3 matrix. I think the part confusing me is the dhat. I multiplid J*d to get this. is that not right?
anonymous
  • anonymous
The Adjoint matrix for SE2 is a 3x3. You can look at it in the formulas from last week's homework. What you wrote there is the SE3 adjoint matrix. That should clear things up. You should be multiplying a 3x3 by a 3x1.
anonymous
  • anonymous
Oh okay I didn't even think about that. Thanks!

Looking for something else?

Not the answer you are looking for? Search for more explanations.

More answers

adrynicoleb
  • adrynicoleb
Ish a lil pickle *-*
Jaynator495
  • Jaynator495
hurray i found a mod nobody knows about while exploring a dead subject xD

Looking for something else?

Not the answer you are looking for? Search for more explanations.