How to find the function with having input and output?

Hey guys,

So I have the end effector global transformation matrix and also joint variables(q). I'm trying to get a function acting between these two, so that by having this function and qs, I can get my end effector g. Generally speaking, I have a matrix q(7,1) and a matrix g(4,4) and I'm trying to find the fuction as g = F(q). I need g.

    q=[pi/6;pi/6;pi/6;pi/2;0;0;0]; %some example joint angles

    
    g = [ -0.4330, -0.8080, 0.3995, 0.4194;
        -0.2500, 0.5335, 0.8080, 0.4760;
        -0.8660, 0.2500, -0.4330, 0.3399;
        0, 0 , 0, 1];

Here's the matrices.

Thanks

Answer 1

[Sai Bhargav Avula]

Hi,

It is not possible to estimate F as the relationship might be linear, non-linear etc., if you have a set of data then you can use curve fitting algorithm to find F. Or otherwise if you have some equation relating them then you can solve for the unknow parameters using the information you have

Hope this helps!