Transcript John report

Current Work


Working on generating trajectory for moving
hand across table
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Put hand in gravity compensation mode to solve
inverse kinematics for one configuration
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Use Jacobian approach to generate delta_theta
for many points
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Program trajectory into Simulink model
Finished preliminary Simulink model for
operating the Barrett hand
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Will be testing this soon
What's Next

Create Simulink model for a simple WAM
trajectory
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Test and debug Simulink model for Barrett Hand
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Coordinate the two models