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rne_python in mdh module #268

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rne_python in mdh module #268

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4c18cf6
Update DHRobot.py
hanm2019 Sep 13, 2021
0692d66
Merge pull request #1 from hanm2019/hanm2019-patch-1
hanm2019 Sep 13, 2021
1d31be8
fix a bug in rne_python backward process
hanm2019 Sep 15, 2021
a78593d
Merge branch 'petercorke:master' into master
hanm2019 Sep 15, 2021
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4 changes: 2 additions & 2 deletions roboticstoolbox/robot/DHRobot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1465,7 +1465,7 @@ def removesmall(x):
# revolute axis
w_ = Rt @ w + z0 * qd_k[j]
wd_ = Rt @ wd + z0 * qdd_k[j] + _cross(Rt @ w, z0 * qd_k[j])
vd_ = Rt @ _cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd
vd_ = Rt @ (_cross(wd, pstar) + _cross(w, _cross(w, pstar)) + vd)
else:
# prismatic axis
w_ = Rt @ w
Expand Down Expand Up @@ -1536,7 +1536,7 @@ def removesmall(x):
nn_ = (
R @ nn
+ _cross(pstar, R @ f)
+ _cross(pstar, Fm[:, j])
+ _cross(r, Fm[:, j])
+ Nm[:, j]
)
f = f_
Expand Down