Explain how the forward kinematics and inverse kinematics are used for controlling a robot in the following diagram: Desired end-effector pose d q=J¹ve dt Desired end-effector velocity Joint velocities to Inverse Jacobian motor velocities Motor angles to Motor encoders Forward kinematics Current end-effector pose joint angles q Motor velocities control Low level control loop
Explain how the forward kinematics and inverse kinematics are used for controlling a robot in the following diagram: Desired end-effector pose d q=J¹ve dt Desired end-effector velocity Joint velocities to Inverse Jacobian motor velocities Motor angles to Motor encoders Forward kinematics Current end-effector pose joint angles q Motor velocities control Low level control loop
Computer Networking: A Top-Down Approach (7th Edition)
7th Edition
ISBN:9780133594140
Author:James Kurose, Keith Ross
Publisher:James Kurose, Keith Ross
Chapter1: Computer Networks And The Internet
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Problem R1RQ: What is the difference between a host and an end system? List several different types of end...
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Transcribed Image Text:Explain how the forward kinematics and inverse kinematics are used for controlling a robot in the
following diagram:
Desired
end-effector pose
d
q=J¹ve
dt
Desired
end-effector velocity
Joint velocities to
Inverse Jacobian
motor velocities
Motor angles to
Motor encoders
Forward kinematics
Current
end-effector pose
joint angles
q
Motor velocities
control
Low level control loop
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