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| I am trying to perform iterative newton Euler method for dynamics of an RP manipulator but having trouble in finding the value of vdot. Please help. DOF = 2 ; (* D-H PARAMETERS AND JOINT TYPE... |
| When I'm trying to calculate the value of DP, it subtracts the PCurrent matrix from each element of PGoal. What am I doing wrong? OP4 = MatrixForm[{Cos[ T1] (L1 + L2 Cos[T2] + L3 Cos[T2 + T3]), (L1 + L2 Cos[T2] + L3... |
| I'm trying to do the iterative jacobian method but I can't get the output * Let' s do the Iterative Jacobian Method! *) counter = 1; loopiter = 5; While[True, \[Theta]est = {Part[\[Theta]i, 1, 1], Part[\[Theta]i, 2, 1], ... |
| Okay it worked, however, when I'm trying to take the partial derivative of OP4(1,1) with respect to T1, I'm only getting -Sin[T1]. I should be getting -(L1+L2 Cos[T2]+L3 Cos[T2+T3]) Sin[T1] instead. DH = {{0, T1, 0, 0}, {0, T2, L1, Pi/2}, {0,... |