SNS IKL Version 0.2.1 beta
The Inverse Kinematic Library (SNS IKL) contains tools to invert the differential kinematic of a robot (this version is tested only on fixed base manipulator). The methods implemented on the IKL are:
- STD the standard pseudoinversion of the jacobian
- SCALE pseudoinversion with task scaling to satisfy joint constraints
- SNS the SNS algorithm which permits to consider hard constraints at joint level
All this methods permits to solve the inversion of the kinematic of a prioritized stack of task. (note that only the SNS algorithm guarantees to satisfy all joint constraints).
Author: Fabrizio Flacco Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG) Università di Roma "La Sapienza" Rome, Italy