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1:57
YouTube
Olivier Kermorgant
Singularity behavior during kinematic control of a 6-dof robot arm
Simulation done in RViz at the kinematic level (no dynamics). Position control to detail the robot joints until 00:30 Then, velocity control of the end-effector frame. A first singularity occurs around 01:00 as frames are aligned. This induces oscillation in the joint velocities even for a small end-effector velocity. Behavior at the proximity ...
762 views
Feb 1, 2019
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