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Karsh Tharyani


Last seen: 2 days ago

MathWorks

8 total contributions since 2020

Karsh Tharyani's Badges

  • Knowledgeable Level 2
  • Revival Level 1
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Answered
There is no offset between my first joint and the base when I want to model a two axis planar robot using Robotics System Toolbox
If you replace jnt1 in setFixedTransform(jnt1, dhparams(1,:), 'dh') with body1.Joint you should notice the offset. Alternative...

3 months ago | 0

Answered
Simple 3-D Manipulator Implementation
It is great to hear from you and I am glad to see your interest in the Robotics System Toolbox. As a starting guide, you can ref...

5 months ago | 1

Answered
Viewing and Understanding the Specifications of Pre-defined Robots
Each of the variables above are a type of rigidBodyTree object. As a starting step to view what the underlying connectivity look...

5 months ago | 2

| accepted

Answered
How to generate a trajectory that the end effector stays at a fixed point while other joints move for a redundant manipulator?
Hi Xiangjie, Thanks for your question. I don't think you are doing anything wrong definining your constraints. I ran the follow...

5 months ago | 1

Answered
Roadmap - how to save the graph generated?
Hi Mirella, Thanks for your question. Please feel free to comment above in case I misunderstood something. 1) Currently, mobil...

7 months ago | 0

| accepted

Answered
Question on the "Plan a Reaching Trajectory With Multiple Kinematic Constraints" example
Hi Paolo, The purpose of providing this constraint is to ensure that the "iiwa_link_ee" frame's (or "EndEffector" body's) z-axi...

7 months ago | 0

Answered
How to get graph of PRM?
Currently, the mobileRobotPRM object doesn't expose the underlying roadmap. I've passed along your request to the appropriate te...

8 months ago | 0

Answered
Unexpected behaviour of checkCollision for robot collision detection
It will help to view the robot's collision geometry data instead of the visual data as they might be different. To do so, show(...

8 months ago | 0

| accepted