Examples of Basic Iterative Algorithms for Inverse Kinematics (Scripts) Publisher's description
from Ugo Pattacini
Two simple models are provided showing the characteristics of basic iterative algorithms for the inversion of kinematics
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.
System Requirements:MATLAB 7.8 (R2009a)
Program Release Status: New Release
Program Install Support: Install and Uninstall