Throwing Map
2022-11-06 19:31:50 9 举报AI智能生成
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Reachability Map
<ul><li>Inputs</li></ul>
(1) workspace positions
(2) orientation grid
<ul><li>Outputs</li></ul>
(1) all reachable poses
(2) homogeneous matrix
(3) associated joint configures
Goal : build a map to visualize robot kinematic capabilities, provide reachability index, initial throw end effector positions and joint configures
Strong Sense Translational Manipulability Polytopes
<ul><li>Inputs</li></ul>
(1) joint configurations
(2) robot Jacobian (get from inverse kinematics of reachability map)
(3) velocity limits<br>
<ul><li>Output: achievable cartesian velocities</li></ul>
Goal : provide maximum initial throwing velocities
Parabolic motion
flying dynamics
Throwing directions u
<span class="equation-text" data-index="0" data-equation="Azimuth: \theta_1 \in (0,90\degree)" contenteditable="false"><span></span><span></span></span>
<span class="equation-text" data-index="0" data-equation="polar angle: \varphi_1 \in (0,360\degree)" contenteditable="false"><span></span><span></span></span>
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