f-frhs / puma Goto Github PK
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This project is a practice to handle a simple robot manipulator.
まずは簡単な順**学から。
コミット b5368e7 のコードで、下のグラフを得ました。
同色の折れ線は、PUMA型マニピュレーターの位置を示します。
リンク4が斜めに描画されているのは、リンク3側の関節部とリンク5側の関節部とを直線で結んだからです。
なお、リンク4は 以下の性質を持っています:
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