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Inverse kinematics

larstoc
larstoc ✭
in Robot Controller
After having experimented with RAPIDS path planner algorithms for a while I've found they are a tad slow, so I thought I could give it a go and figured a differential based approach with the use of the system Jacobian would be the most appropriate due to scalability and that the joint angles are updated at the same time. Is it possible to get the system Jacobian for the IRB140? 
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  • larstoc
    larstoc ✭
    Is it possible to get the IRB140 model as a CAD model? That way I can use another software to extract the Jacobian for the system.

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