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rpiRobotics / rpi_general_robotics_toolbox_py

Robotics Python toolbox containing mathematical functions and utilities
https://general-robotics-toolbox.readthedocs.io/
BSD 3-Clause "New" or "Revised" License
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Add iterative inverse kinematic solver #13

Closed johnwason closed 2 years ago

johnwason commented 2 years ago

Adds iterative_invkin() solver to general_robotics_toolbox_invkin.py. This is a simple convex Jacobian gradient descent solver. It does not take into account joint limits.

Utility arguments _ignore_limits added to fwdkin() and robotjacobian() functions.