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Maybe I find a bug! #1
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Hi, t0dot = Omega0*P0*u0+P0*u0dot; which is [R, zeros(3);
zeros(3), eye(3)]; it's derivative will be the derivative of the top left part of P0, i.e, |
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function [t0dot,tLdot]=Accelerations(t0,tL,P0,pm,Bi0,Bij,u0,um,u0dot,umdot,robot)
line 49,
%Base-link
Omega0=[SkewSym(t0(1:3)), zeros(3,3);
zeros(3,3), zeros(3,3)];
This should be:
Omega0=[SkewSym(t0(1:3)), zeros(3,3);
zeros(3,3), SkewSym(t0(1:3))];
right?
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