Current Work



Have a good grasp on the workings of the UNM
model
Redo-ing the joint torque calculations
–
Using what we are learning in Robotics 1
–
Need to take lots of partial derivatives
–
The UNM calculations look simpler
Working on a simulation before doing this all in
Simulink
–
Simulation is working but need to verify its
results
What's Next


Complete the gravity compensation model
Begin working on a higher-level model on a for
setting tool-tip position and orientation
–
UNM is working on one now as well but they
don't have it posted online yet