View source for RH2 - Developer Info

== Kinematics using Matlab ==
The following functions have been used:

''function [A, T] = forward_kinematics (a, d, alfa, teta)''

'''FORWARD_KINEMATICS''' computes the forward kinematics using the Denavit-Hartenberg method

[A, T] = FORWARD_KINEMATICS (a, d, alfa, teta) generates one vector of matrixes A, in which the A(:,:,j) represents the transformation matrix from the reference system j-1 to the system j and one matrix T which is the transformation matrix from the reference origin to the end-effector reference. The a, d, alfa and teta are the parameters obtained using the Denavit-Hartenberg convention.


''function J = evaluate_geometric_jacobian (A, T)''

'''EVALUATE_GEOMETRIC_JACOBIAN''' computes the differential kinematics for the manipulator defined by the transformation matrixes A and T whose definition is given in the function FORWARD_KINEMATICS

J = EVALUATE_GEOMETRIC_JACOBIAN (A, T) generates one matrix 12 * n, where n is the number of degrees of freedom of the manipulator defined by A and T. The J matrix represents the geometric Jacobian of the robotic manipulator defined in input. All the joints are supposed to be revolute.