How to calculate the linear and angular velocity of the robot end-effector for a given pose sets of robot end-effector?

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snow John 2023-7-13

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https://ww2.mathworks.cn/matlabcentral/answers/1995403-how-to-calculate-the-linear-and-angular-velocity-of-the-robot-end-effector-for-a-given-pose-sets-of

评论： Karsh Tharyani 2023-7-24

Hello guys,

I want to know how to calculate the calculate the linear and angular velocity of the robot end-effector for a given pose sets of robot end-effector.

Firstly,I USE the Transform Sensor to get the robot end-effect position as demoPose ,and use

gradient(demoPose)/dt

to get the velocity , and I also have try use the Transform Sensor module to record the velocity of the robot end-effector by use the Simscape of the robot model, the Transform Sensor passively senses this 3-D time-varying transformation, and its derivatives, between the two frames.

But those two results are different, so I want to know the right way to calculate the linear and angular velocity of the robot end-effector for a given pose sets of robot end-effector.

In orther words, What is the mathematical principle behind the Transform Sensor module? How to calculate the corresponding linear velocity, linear acceleration, angular velocity and angular acceleration for the given Pose sequence sets?

Can someone help me please,

Thanks in advance,

Best regards to everyone,

-Jian

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Karsh Tharyani 2023-7-24

Hi Jian,

I would suggest you reach out to our Technical Support team with the reproducible of the issue. That will enable us to diagnose this in an efficient manner.

Best,

Karsh

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