Mechanical arm the Jacobi matrix of how to use RAM, X=J * q, as the operating speed, q for joint velocity joint velocity is directly to value

CodePudding user response:

It seems not, through differential proportion, calculation, according to the steps of step motor calculated, say, 86 stepper motor (1:1 rotation speed ratio, namely one revolution of the stepper motor, mechanical arm round) (Xr=1=2 PI/86) pulse Angle, Angle of angular velocity know can calculate according to the arm length, assume arm length L and the speed of X=Xr * L, Jacobi iteration is how you use it for?? I haven't heard of math can also so the Jacobi iteration,

CodePudding user response:

I have just study this is steering arm, no code reference, now a scratching his head

CodePudding user response:

Jacobi matrix is I put him into a column of a column and then multiplied by the speed q

CodePudding user response:

This should be through the trajectory planning to get to the Angle of the joint motors, angular velocity and angular acceleration

CodePudding user response:

Why do I want to ask next, model using cartesian trajectory is walk in a straight line, but the robot ontology is not??

CodePudding user response:

I want to ask next four degrees of freedom mechanical arm based on arduino using what good control point, what functions can be implemented, because I'm in writing graduation thesis, want to find relevant information, also don't know how to write a good paper points

CodePudding user response:

Forget that, come and learn