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NxRLab / ModernRobotics

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Home Page:http://modernrobotics.org/

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InKinSpace and FKin Space (Space Jacobian)

SuleymanSoltanov opened this issue · comments

commented

Hello.

  1. The solution obtained from the Space Jacobian matrix in MATLAB code does not align with the solution derived through manual calculations on paper.
  2. The initial guess of joint angles, known as thetalist0, is printed as the result (ans) in InKinSpace. However, it is important to note that the angle in FKinSpace cannot be obtained in MATLAB. This means that if the value of thetalist0 is changed in InKinSpace (for example, from 1.5 to 1.2), the answer found will not be the same as in FKinSpace.
commented