gkjohnson / closed-chain-ik-js

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

https://gkjohnson.github.io/closed-chain-ik-js/dist/index.html

Apache License 2.0

184 stars 29 forks source link

Solver: Investigate GCP solver #78

Open gkjohnson opened 3 years ago

gkjohnson commented 3 years ago

Overview Paper

https://www.researchgate.net/publication/325950583_An_Algorithm_for_Trajectory_Generation_in_Redundant_Manipulators_with_Joint_Transmission_Accommodation

Notes

To Lookup / Refresh

LU Factorization
QR Decomposition
Screw theory / screw (translation and rotation axis definition)

Other

https://www.researchgate.net/publication/266572408_Generalized_Coordinate_Partitioning_Methods_for_Numerical_Integration_of_Differential-Algebraic_Equations_of_Dynamics

https://www.researchgate.net/publication/317899926_Computational_Methods_for_Dynamics_and_Mobility_Analysis_of_Multiloop_Mechanisms_and_Robotic_Systems