MOTION

dx_TCP= - 0.2 m
dy_TCP= 0 m
dz_TCP = 0 m

speed = -0.005 m/s

samples=20
TCP_initial = [0.0870; 0.4287; 0.4381]

Κίνηση 20 cm κατά μήκος του x-axis.

REFERENCE ANATOMY

pseudo joints:

tp1=0 ; tp2=0

active joints at first point:

t1=1.0472 ; t2=-0.3491 ; t3=-1.0472;

OPTIMIZED ANATOMY

pseudo joints:

tp1=1.3090 ; tp2=0

active joints at first point:

t1=-1.1224 ; t2=2.7205 ; t3=1.0472;