HW 1 Task 1.2f - steps

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LinuxFan
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HW 1 Task 1.2f - steps

Beitrag von LinuxFan » 5. Nov 2013 19:16

Hello,

1.2f includes the instruction to "show the intermediate steps after 5, 10, 60 steps". I assume they talk about the iterations - but why 5, 10, 60? After 60 steps, the simulation time is 60 * dt = 60 * 0.002 = 0,12 sec. After this time, my robot arm moved only a bit. Do you agree? Or do you think the step values are ok?

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Victor-Philipp Negoescu
http://www.viathinksoft.de

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Domac
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Re: HW 1 Task 1.2f - steps

Beitrag von Domac » 7. Nov 2013 21:23

Hi!

I think that the step values are ok. There is already a visible difference between the three jacobians.
But what damping factor k do we have to choose for the damping jacobian pseudoinverse? :-/

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Extend my dropbox space (here).
Thanks!

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hymGo
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Re: HW 1 Task 1.2f - steps

Beitrag von hymGo » 11. Nov 2013 14:52

I see a diference, too. However, my robot does not reach the target position with non of the approaches (the first link is alway pointing updards).

I am also not sure how to compute xd. Its a litte strage if I use the Jacobian and qd to obtain xd, since I used this xd afterwards to obtain qd again :roll:

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