nullspace

User Guide

  • Philosophy
  • Install
  • Get Start
  • Example: Kinematics
  • Control Flow
  • Robot Descriptor
  • Error Update
  • Best Fit Plane
  • Nullspace Basic
  • Automatic Differentiating(AD) of Singular Value Decomposition(SVD)
  • Visualization

Source Code

  • Usage
  • robotBuilder

Robotics Guide

  • Quaternion
  • angular_momentum_derivative
  • composite_inertia
  • DOF Computation
    • DOF discussion of quadruped
  • Dynamic Consistent Inverse
  • Eigen Chain Multiplication
  • Eigen Matrix Practice
  • Release History
  • Minimum Version of Python and NumPy
nullspace
  • DOF Computation
  • View page source

DOF Computation

Contents:

  • DOF discussion of quadruped
    • Formula
    • Case study
    • Is it over-actuated? Is it under-actuated?
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