mirror of
https://github.com/janishutz/eth-summaries.git
synced 2026-03-14 17:00:05 +01:00
9 lines
424 B
TeX
9 lines
424 B
TeX
\subsection{Forward Kinematics (FK)}
|
|
$T_{WB_n}(\theta) = \mat{T}_{WB_0} \mat{T}_{B_0B_1}(\theta_1) \cdots \mat{T}_{B_{n - 1}B_n}(\theta_n)$.\\
|
|
For 2R system: ${_W}\vec{t}_{WE} = \begin{bmatrix}
|
|
L_1 \cos(\theta_1) + L_2 \cos(\theta_1 + \theta_2)\\
|
|
L_1 \sin(\theta_1) + L_2 \sin(\theta_1 + \theta_2)
|
|
\end{bmatrix}$\\
|
|
With workspace (pos) $W$ for $\theta_1, \theta_2 \in [-\pi, \pi]$
|
|
% TODO: Example? (w02s42 possibly)
|