There are two ways of using the Jacobian matrix to solve kinematics. One is to use the transpose of the Jacobian JT. The other is to calculate the inverse of the Jacobian J .J is most likely redundan ...
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机器人运动学逆解的问题经常出现在动画仿真和工业机器人的轨迹规划中：We want to know how the upper joints of the hierarchy would rotate if we want the end effector to reach some goal. ...
When performing inverse kinematics (IK) on a complicated bone chain, it can become too complex for an analytical solution. Cyclic Coordinate ...
The damped least squares method is also called the Levenberg-Marquardt method. Levenberg-Marquardt算法是最优化算法中的一种。它是使用最广泛的非线性最小二乘算法，具有梯度法和牛顿法的优点。当λ很小 ...
IK groups and IK elements VREP中使用IK groups和IK elements来进行正/逆运动学计算，一个IK group可以包含一个或者多个IK elements： IK groups: IK groups group one ...
Solving the FK problem of simple kinematic chains is trivial (just apply the desired joint values ...
Wheeled mobile robots may be classified in two major categories, omnidirectional and nonholonomic ...
的作业范围要更大一些，这两类对象具有不同的特点，因此在研究方法上略有不同。在V-rep学习笔记：机器人路 ...
Motion Planning Library V-REP 从3.3.0开始，使用运动规划库OMPL作为插件，通过调用API的方式代替以前的方法进行运动规划（The old path/motion planning functionality is still ...
