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ik_handout - Inverse Kinematics ME/ECE 739 Notes Professor...

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Unformatted text preview: Inverse Kinematics ME/ECE 739 Notes Professor Nicola J. Ferrier Spring 2006 1 Iterative Kinematic Inverse for Pose Goal: For a desired end-effector pose N T * , find joint position q to attain that pose. Algorithm IKPose[ N T * ,q (0) ] I Input:- The desired configuration N T *- initial joint configuration q (0) II Initialize: q = q (0) III Iterate: 1. Compute for current joint position, q : N T- 1 ( q ) J- 1 ( q ) 2. Calculate the error: E ( k ) = h N T * N T- 1 ( q )- I i = *- #6 +#5 +#1 +#6 *- #4 +#2- #5 #4 * +#3 3. Map to 6-vector: *- #6 +#5 +#1 +#6 *- #4 +#2- #5 #4 * +#3 #1 #2 #3 #4 #5 #6 4 = E 6 ( k ) 4. Estimate the joint increments: q = J- 1 ( q ) E 6 5. Move joints virtually q = q + q 6. if q < joint resolution, stop , otherwise repeat iteration IV Output: q Kinematic Inverse for Trajectories...
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ik_handout - Inverse Kinematics ME/ECE 739 Notes Professor...

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