Examples of Basic Iterative Algorithms for Inverse Kinematics 1.0

Date Added: March 25, 2013 | Visits: 473

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Two simple models are provided showing the characteristics of basic iterative algorithms for the inversion of kinematics, namely the Jacobian transpose, its pseudo-inverse and the damped least-squares (DLS). The pro's and con's can be compared interactively for a serial two-links and a three-links chains. For the latter the gradient-projection method is also given to couple a secondary task exploiting the redundancy of the manipulator.

Requirements: No special requirements

Platforms: Matlab

Keyword: Chains, Gradientprojection, Interactively, Manipulator, Method, Redundancy, Serial, Threelinks, Twolinks

Users rating: 0/10

License: Shareware

Size: 30.72 KB

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