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scl-manips-v2 / docu / tutorial_RPP

Math

We will follow the math given here: RPPBot_tutorial

Note:

  • Theta_0 represents the angle, while theta_1 and theta_2 represent the offset lengths.
  • Orientation rotational velocity - Omega = JOcomRot * dq

Simulation

  • To easily understand the math, go to see scl
cd <scl_base_directory>/applications_linux/scl_example_ctrl
./scl_eg_ctrl ../../specs/Bot-RPP/Bot-RPPCfg.xml rppbot opc -op hand
  • This will run the scl simulation with RPPBot and allow you to control the hand of the robot in Cartesian coordinates
    • e,q for up-down
    • w,s for in-out
    • a,d for left-right

Updated