Closed Suke0811 closed 1 year ago
>>> kinematics.scalar_forward_kinematics_3DoF(0, data_encoder[150,3,:] + [0.,0,0], with_body=True, body_angle = 0.0, output_xyz = True) array([ -26.10719118, 149.97075176, -283.88118022]) >>> kinematics.scalar_forward_kinematics_3DoF(0, data_encoder[150,2,:] + [0.,0,0], with_body=True, body_angle = 0.0, output_xyz = True) array([ 299.77381751, 150.03213714, -282.65099727])
>>> data_encoder[150,3,:] array([ 1.53398079, -0.21782527, 1.78708762]) >>> data_encoder[150,2,:] array([-1.53398079, -0.21015537, 1.79322354])
The leg 3 and 2 are supposed to be symmetric, but the forward kinematics returns very different values though encoder values are very similar.
Probably shoulder frame issues?
Hello, did you go through all DH notation for the task or used different analytical mehod?
The leg 3 and 2 are supposed to be symmetric, but the forward kinematics returns very different values though encoder values are very similar.
Probably shoulder frame issues?