Robotics 2: Inverse kinematics problem, analytical and numerical solution, Derivation of the Jacobian Flashcards
What is Joint and Cartesian Spaces?
Joint space is operational space, where we can effect how the robot moves.
Cartesian space is task space, it is where we define where we want the robot to move, for example with a desired poistion of the end effector.
positions in joint space are denoted by:
q = [q_1, …, p_n]^T
Poes in caresian space are denoted by
x = [p, phi]^T
where p is a position vector, px,pypz.
and phi is an oreantaion vector phi_x,phi_y,phi_z.
What is Joint and Cartesian Spaces?
Joint space is operational space, where we can effect how the robot moves.
Cartesian space is task space, it is where we define where we want the robot to move, for example with a desired poistion of the end effector.
positions in joint space are denoted by:
q = [q_1, …, p_n]^T
Poes in caresian space are denoted by
x = [p, phi]^T
where p is a position vector, px,pypz.
and phi is an oreantaion vector phi_x,phi_y,phi_z.
What are the two approches to inverse kinematics?
Closed form: Analytical approch, it’s fast and exact, but does not exist for all robots, can be complicated to calculate, and need to be calculated for each specific robot.
Numerical: Numerical approch based on approximimation and iterative attempts. Works for all robots and the same method can generally be used for any robots. However it is inexact and slow to compute.
