Arm control rotations improved to rotate around end effector

rsx-utoronto / rover2017

Code for our rover

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Arm control rotations improved to rotate around end effector #20

Open Paul1234567890 opened 7 years ago

Paul1234567890 commented 7 years ago

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 commented 7 years ago

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