Throwing Map
2022-11-06 19:31:50 9 举报AI智能生成
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大纲/内容
(1) workspace positions
(2) orientation grid
Inputs
(1) all reachable poses
(2) homogeneous matrix
(3) associated joint configures
Outputs
Reachability Map
(1) joint configurations
(2) robot Jacobian (get from inverse kinematics of reachability map)
(3) velocity limits
Output: achievable cartesian velocities
Goal : provide maximum initial throwing velocities
Strong Sense Translational Manipulability Polytopes
flying dynamics
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Throwing directions u
Parabolic motion
Throwing Map
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