Society of Robots - Robot Forum
Mechanics and Construction => Mechanics and Construction => Topic started by: gayesa on March 07, 2008, 02:43:46 PM
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What are the alternative methods for forward kinematic conventions apart from D-H conventions?
I have searched various links but most of them proposes D-H one
Can you help me?
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D-H is what you want if you are solving it by hand (lots of crazy linear algebra). If you are using a computer you want to use the Jacobian Matrix method (still a ton of math but a symbolic solver like mathematica can do a lot of it for you).
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actually it is a homework and i couldn't find any alternative method for D-H except only quaternions, is it sufficient ?
jacobean is as far as i know is the velocity kinematic method, isn'i it ?
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Yea, Jacobeans is for mapping joint velocities . . .
How many joints does the arm have? Another method is just highschool geometry and trig ;D