fucking
cunt
What is the formula for OB spherical wrist kinematics for theta 6 & 4
What are the four formulas for the normal spherical wrist inverse kinematics
What whats the formulas for the revolute arm joints of the Stanford manipulator (including vectors)
What whats the formulas for the prismatic arm joint of the Stanford manipulator
Whats the provision of the kahans p2
whats the provision of kahans p4
What are the steps to solve the stanford manipulator inverse kinematics problem
1. Decouple into arm and wrist problem
2. Solve wrist center
3. find prismatic joint var
4. find theta 1 & 2
5. given these vals, run forward kinematics four times, one for each value
6. solve the wrist inverse problem
what are the key points of the oblique spherical wrist code
what are the key points of the spherical wrist code
What does the code for finding theta 1 of the puma 560 look like
What does the code for finding theta 3 of the puma 560 look like
What does the code for finding theta 2 of the puma 560 look like
