Solving the FK problem of simple kinematic chains is trivial (just apply the desired joint values to all joints in the chain to obtain the position and orientation of the tip or end effector). However it is less trivial to solve the IK and FK problem…

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 or more IK elements. To solve the kinematics of a simple kinematic chain, one IK group containing one IK element is need…

When performing inverse kinematics (IK) on a complicated bone chain, it can become too complex for an analytical solution. Cyclic Coordinate Descent (CCD) is an alternative that is both easy to implement and efficient to process.逆运动学问题一般采用解析法和基于Jacob…

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很小时,步长等于牛顿法步长,当λ很大时,步长约等于梯度下降法的步长. The damped least squares method can be theoretically justified as follo…

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. IK Solutions: Analytical solutions are desirable because of their speed and exactness of solution. For…

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-1. J is most likely redundant and non square,thus an ordinary inverse is not…

零.引言 在<Dive into Python>(深入python)中,第七章介绍正則表達式,开篇非常好的引出了正則表達式,以下借用一下:我们都知道python中字符串也有比較简单的方法,比方能够进行搜索(index,find和count),替换(replace)和解析(split),这在本系列前篇数据结构篇中有所涉及,可是有种种限制.比方要进行大写和小写不敏感的搜索时,可能就须要先对字符串进行str.lower()或str.upper()将字符串先统一转换成小写或者大写在进行搜索. 那么,本…

正則表達式一般有三个部分组成,他们各自是:字符类,数量限定符,位置限定符. 规定一些特殊语法表示字符类.数 量限定符和位置关系,然后用这些特殊语法和普通字符一起表示一个模式,这就是正則表達式(Regular Expression). 我们以一 个样例開始吧.假如给你一个文件,里面存放的是IP地址,可是有一些不是合格的.请你找出合格的IP地址.我想不知道正 则表达式的人一定会认为好陌生,我拿一个循环去实现,我之前也被问到过这个问题,也是想着拿循环来完毕.写出一个函 数来实现这个查找功能实在是不简单…

http://www.cnblogs.com/alphafly/p/4048608.html 协变是指方法能从委托的返回类型派生的一个类型. 逆变之方法获取的参数可以是委托参数类型的基类.…

The geometric constraint solver is slower and less precise at solving kinematic problems, but might be easier and more intuitive to use. Moreover, it allows interacting with a mechanism in a more flexible way than the inverse kinematics calculation m…