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…
变量的解构赋值 ES6允许按照一定模式,从数组和对象中提取值,对变量进行赋值,这被称为解构. 数组的解构赋值 以前,为变量赋值,只能直接指定值: 1 2 3 var a = 1; var b = 2; var c = 3; ES6允许写成下面这样: 1 var [a, b, c] = [1, 2, 3]; 这种写法属于"模式匹配",只要等号两边的模式相同,左边的变量就会被赋予对应的值,如果解构不成功,变量的值就等于undefined,下面是一些使用嵌套数组进行解构的例子: 1 2 3…
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…
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…
