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Arm control rotations improved to rotate around end effector #20

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Paul1234567890 opened this issue Sep 27, 2017 · 2 comments
Open

Arm control rotations improved to rotate around end effector #20

Paul1234567890 opened this issue Sep 27, 2017 · 2 comments
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@msnhao

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@Paul1234567890
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@Paul1234567890
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good to do a research to potentially redesign the math part of the entire control to see if there is other control technique that can solve singularity issues

@Paul1234567890
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pushed code with first round of fancy motions in fullIK mode:

  • translation along: z6, y0, z0
  • rotation around: z0, y0_tilda (which is defined as y0_tilda = z6 x z0 /|| z6 x z0 ||), z6

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@Paul1234567890 @msnhao