Motion level forward kinematics on Simulink

This can be done by taking the partial derivatives of the forward kinematics equations with respect to time. In summary, To create a motion level FK for a pantograph, the Jacobian matrix of the forward kinematics must be used to calculate the derivatives of the joint angles and end-effector position. Simply adding a derivative block to the output of the configuration level FK block will not work.
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I have built a Forward kinematic block with s-function on simulink. This FK is for a pantograph. Input is two angles of the motors and output is the position and 4 angles, which are the inputed motor angles along with angles of two elbows. Now, I need a motion level FK which will output the derivatives of the planar x,y positions and the derivatives of four angles. I wonder if I simply put a derivative block to the output of the configuration level FK block, would it work ?
 
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  • #2
No, it would not work. You need to use the Jacobian matrix of the forward kinematics to calculate the derivatives of the joint angles and the end-effector position.
 

1. What is motion level forward kinematics?

Motion level forward kinematics is a mathematical approach used to determine the position and orientation of a rigid body based on its motion. It involves analyzing the movement of individual parts of the body and combining them to determine the overall motion of the body.

2. How is motion level forward kinematics implemented on Simulink?

In Simulink, motion level forward kinematics is usually implemented using a block diagram approach. The individual parts of the body are represented by blocks, and their motion is captured using inputs and outputs. These blocks are then interconnected to represent the overall motion of the body.

3. What are the advantages of using Simulink for motion level forward kinematics?

Simulink provides a user-friendly interface for designing and simulating complex systems, making it an ideal platform for motion level forward kinematics. It also allows for easy visualization of the movement of the body, making it easier to analyze and troubleshoot any issues.

4. What are the limitations of motion level forward kinematics on Simulink?

One limitation of using Simulink for motion level forward kinematics is that it may not be suitable for highly complex systems with a large number of moving parts. In such cases, a more advanced software or programming language may be needed to accurately capture the motion of the body.

5. How is accuracy ensured in motion level forward kinematics on Simulink?

Accuracy in motion level forward kinematics on Simulink can be ensured through proper calibration and validation of the system. This involves comparing the simulated motion with real-world data to ensure that the model accurately represents the actual behavior of the body.

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