20241002 184725 cleftv9 rigidBoday Lx20 6dMap

Описание к видео 20241002 184725 cleftv9 rigidBoday Lx20 6dMap

Physical Omni device teleoperates a virtual 6DOF surgical tool (PRRRRR) in Matlab (using rigidBody).
(1) When Omni button-1 is pressed, tool EE position (xyz) will be controlled to move;
(2) When Omni button-2 is pressed, tool EE orientation (rpy) will be controlled to pose.
(3) Green cylinders represent the joints, and local frames (x-R, y-G, z-B) are attached to each joint.
(4) Intuitively, you can imagine the last (bottom) red line as the EE link. (the robot base is on the top).

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