1 / 6

Arm Planning

Use a matrix of parameters to create 3D forward kinematics for arm planning. Easily expandable with any number of parameters. Implement collision detection using dot product with obstacles and distance calculations.

colette-garner
Download Presentation

Arm Planning

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Arm Planning Andrew Lewis

  2. DH Parameters • Use a matrix of parameters to create A matrices • Abstract • Any number of params • 3d

  3. Forward Kinematics • Theta + d -> points • Abstract • Up to 8 theta or d (easily expanded) • 3D

  4. Visual Simulation

  5. Collision Detection • For each segment • Dot product with obstacle • > 0 within segment • Pythagorean • < 0 outside segment • Distance to each point

  6. Inverse Kinematics • Overdefined system • Pick effective length of link1 and 2 • OR • Pick orientation of final link

More Related