search

qaz1678249 / scalar_kinematics

1 stars 0 forks source link

3Dof forward kinematics #5

Closed Suke0811 closed 1 year ago

Suke0811 commented 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?

koppelos commented 1 year ago

Hello, did you go through all DH notation for the task or used different analytical mehod?