KDL(Kinematics and Dynamics Library)中定义了一个树来代表机器人的运动学和动力学参数,ROS中的kdl_parser提供了工具能将机器人描述文件URDF转换为KDL tree. Kinematic Trees: 链或树形结构.已经有多种方式来定义机构的运动学结构,KDL使用图论中的术语来定义: A closed-loop mechanism is a graph, 闭链机构是一幅图 an open-loop mechanism is a tree, 开链机构是
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
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
