Calculus Is Fun When You Can Make a Robot Move: Understanding Differential Kinematics

let's start with two fundamental ways of describing a robot: Joint space Task space Joint Space When a robot's current configuration is represented in terms of its joint positions, we call it joint space. Consider a simple 2-link planar robot. Suppose: q₁ = 5° q₂ = 45° Then its joint configuration can be represented as: q = [5°, 45°] Simple. Now... Weiterlesen