Skip to content
/ Pseudo_inverse_method_for_7-DOF_manipulator Public

a kinematics inverse solution for 7-DOF manipulator based on pseudo inverse with joint limit avoidance and singularity avoidance.

26 stars 3 forks Branches Tags Activity
Star
Notifications You must be signed in to change notification settings

bhtxy0525/Pseudo_inverse_method_for_7-DOF_manipulator

BranchesTags

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

20 Commits
Inverse Solution.m
Inverse Solution.m
 
 
README.md
README.md
 
 

Repository files navigation

Pseudo inverse method for 7-DOF manipulator

Developed by: Xinyang Tian.

Platform: Matlab 2019b.

A kinematics inverse solution for 7-DOF manipulator based on pseudo inverse with joint limit avoidance and singularity avoidance.

  • Joint limit avoidance: use gradient projection method （GPM）.
  • Singularity avoidance: use Damped Least Squares method （DLS）.

Implementation

The code is implemented in MATLAB R2019b. Also, other versions of Matlab are available.

About

a kinematics inverse solution for 7-DOF manipulator based on pseudo inverse with joint limit avoidance and singularity avoidance.

Resources

Readme
Activity

Stars

26 stars

Watchers

2 watching

Forks

3 forks
Report repository

Releases

No releases published

Packages

No packages published

Languages