Question

In problem 1.b what is the computed twist from last weeks hw?

Answer 1

This would be the xi = ln(inv(gi)*gf). You can just look at the solutions for last week's homework to get the numerical value if you like.

Answer 2

What is the numerical value for the twist?

Answer 3

Oh I see it is not explicitly given in HW12 solutions. You can compute it by ln(inv(gi)*gf). I think the answer is [0.0218,0.1206,.2618] but that's not a guatantee.

Answer 4

For part b is the body velocity equal to inv(g0'*exp(twist*t))*g0'*twist*exp(twist*t)

Answer 5

Yes just be careful to apply the transformation properly to a twist.

Answer 6

When i run the code it is not coming up with an answer. It just keeps running.

Answer 7

What code are you referring to?

Answer 8

The ode45 with xdot=inv(J)*body velocity

Answer 9

I'm not sure what the problem is. Look over the solutions from homework 1 or whatever other homework you had to do ode45 into make sure you re implementing it properly. I can look at it tomorrow after class if you still can't get it. Gotta go for the night. Good luck.