using System;using System.Collections.Generic;using System.ComponentModel;using System.Data;using System.Drawing;using System.Linq;using System.Text;using System.Windows.Forms; namespace WindowsFormsApplication4{ public partial class Form1 : Form { p…
参考链接:http://120.52.51.14/stanford.edu/class/ee363/lectures/dlqr.pdf 本文参考讲义中的第20页PPT,根据Hamilton-Jacobi方法,推导得到黎卡提方程的数值迭代求解方法(可实时在线求解黎卡提方程),具体推导过程请参考PPT.本文列出最后的结论及对应的matlab代码,其他编程语言也可参考贴出的代码自行改编. 对应的matlab代码如下: %%%参考文献dlqr close all A=[1 1;0 1]; B=[0;1]…
TRAC-IK和Orocos KDL类似,也是一种基于数值解的机器人运动学求解器,但是在算法层面上进行了很多改进(Specifically, KDL’s convergence algorithms are based on Newton’s method, which does not work well in the presence of joint limits — common for many robotic platforms. TRAC-IK concurrently runs…
