A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques
For creating multiple systems that only solve for a piece of the system (ie solve for 5 leg goals / closures but not the 6th in the case of ATHLETE). Perhaps "Goals" should be provided as explicit roots?
For creating multiple systems that only solve for a piece of the system (ie solve for 5 leg goals / closures but not the 6th in the case of ATHLETE). Perhaps "Goals" should be provided as explicit roots?