ikine
24
Note that the dimensional units used for the last column of the
T
matrix must agree with the dimen-
sional units used in the robot definition. These units can be whatever you choose (metres, inches,
cubits or furlongs) but they must be consistent. The Toolbox definitions
puma560
and
stanford
all use SI units with dimensions in metres.
See Also
fkine, tr2diff, jacob0, ikine560, robot
References
S. Chieaverini, L. Sciavicco, and B. Siciliano, "Control of robotic systems through singularities," in
Proc. Int. Workshop on Nonlinear and Adaptive Control: Issues in Robotics (C. C. de Wit, ed.),
Springer-Verlag, 1991.
Robotics Toolbox Release 8
Peter Corke, December 2008
Summary :
ikine 24 Note that the dimensional units used for the last column of the T matrix must agree with the dimen- sional units used in the robot definition.
Tags :
units,control,robotics,robot,metres,used,toolbox,corke,1991,proc,ikine560,agree,singularities