@@ -440,7 +440,7 @@ <h3>Denavit-Hartenberg parameters<a class="headerlink" href="#denavit-hartenberg
440440< span class ="linenos "> 36</ span >
441441< span class ="linenos "> 37</ span > < span class ="gp "> >>> </ span > < span class ="n "> sol</ span > < span class ="o "> =</ span > < span class ="n "> puma</ span > < span class ="o "> .</ span > < span class ="n "> ikine_LM</ span > < span class ="p "> (</ span > < span class ="n "> T</ span > < span class ="p "> )</ span > < span class ="c1 "> # inverse kinematics</ span >
442442< span class ="linenos "> 38</ span > < span class ="gp "> >>> </ span > < span class ="nb "> print</ span > < span class ="p "> (</ span > < span class ="n "> sol</ span > < span class ="p "> )</ span >
443- < span class ="linenos "> 39</ span > < span class ="go "> IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.513951146341011e -13)</ span >
443+ < span class ="linenos "> 39</ span > < span class ="go "> IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.514893490954293e -13)</ span >
444444</ pre > </ div >
445445</ div >
446446< p > The Toolbox supports named joint configurations and these are shown in the table
@@ -703,7 +703,7 @@ <h2>Differential kinematics<a class="headerlink" href="#differential-kinematics"
703703< span class ="gp "> >>> </ span > < span class ="n "> np</ span > < span class ="o "> .</ span > < span class ="n "> linalg</ span > < span class ="o "> .</ span > < span class ="n "> matrix_rank</ span > < span class ="p "> (</ span > < span class ="n "> J</ span > < span class ="p "> )</ span >
704704< span class ="go "> 5</ span >
705705< span class ="gp "> >>> </ span > < span class ="n "> rtb</ span > < span class ="o "> .</ span > < span class ="n "> jsingu</ span > < span class ="p "> (</ span > < span class ="n "> J</ span > < span class ="p "> )</ span >
706- < span class ="go "> column 5 = + 1 column_3</ span >
706+ < span class ="go "> column 5 =2.6e-15 column_0 + 1 column_3</ span >
707707</ pre > </ div >
708708</ div >
709709< p > Jacobians can also be computed for symbolic joint variables as for forward kinematics above.</ p >
@@ -721,7 +721,7 @@ <h2>Differential kinematics<a class="headerlink" href="#differential-kinematics"
721721< span class ="go "> Yoshikawa manipulability is 0.07861716534599998</ span >
722722< span class ="gp "> >>> </ span > < span class ="n "> m</ span > < span class ="o "> =</ span > < span class ="n "> puma</ span > < span class ="o "> .</ span > < span class ="n "> manipulability</ span > < span class ="p "> (</ span > < span class ="n "> puma</ span > < span class ="o "> .</ span > < span class ="n "> qn</ span > < span class ="p "> ,</ span > < span class ="n "> method</ span > < span class ="o "> =</ span > < span class ="s2 "> "asada"</ span > < span class ="p "> )</ span >
723723< span class ="gp "> >>> </ span > < span class ="nb "> print</ span > < span class ="p "> (</ span > < span class ="s2 "> "Asada manipulability is"</ span > < span class ="p "> ,</ span > < span class ="n "> m</ span > < span class ="p "> )</ span >
724- < span class ="go "> Asada manipulability is 0.004374613728166503 </ span >
724+ < span class ="go "> Asada manipulability is 0.004374613728166502 </ span >
725725</ pre > </ div >
726726</ div >
727727< p > for the Yoshikawa and Asada measures respectively, and</ p >
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