From 4c18cf6228b0ee6028297fb2b35ebd3ffccd167a Mon Sep 17 00:00:00 2001 From: hanm2019 <56673361+hanm2019@users.noreply.github.com> Date: Mon, 13 Sep 2021 21:00:49 +0800 Subject: [PATCH 1/2] Update DHRobot.py update the vd rne_python of mdh module. vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd) --- roboticstoolbox/robot/DHRobot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index 858647bb2..b924349d5 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -1465,7 +1465,7 @@ def removesmall(x): # revolute axis w_ = Rt @ w + z0 * qd_k[j] wd_ = Rt @ wd + z0 * qdd_k[j] + _cross(Rt @ w, z0 * qd_k[j]) - vd_ = Rt @ _cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd + vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd) else: # prismatic axis w_ = Rt @ w From 1d31be8080e74e237a3621d8b71ad828515c6a89 Mon Sep 17 00:00:00 2001 From: hanm2019 <56673361+hanm2019@users.noreply.github.com> Date: Wed, 15 Sep 2021 23:39:59 +0800 Subject: [PATCH 2/2] fix a bug in rne_python backward process nn_ = R@nn + pstar x (R @ f) + r x F + N --- roboticstoolbox/robot/DHRobot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index b924349d5..a1d7420ae 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -1536,7 +1536,7 @@ def removesmall(x): nn_ = ( R @ nn + _cross(pstar, R @ f) - + _cross(pstar, Fm[:, j]) + + _cross(r, Fm[:, j]) + Nm[:, j] ) f = f_