Inverse Kinematic for 6DOF arm
% Anthropomorphic arm with 6 DOF and spherical wrist
% It calculates the Inverse Kinematic of an Anthropomorphic arm with 6 DOF.
% 'q' is the solutions in radiant and K is the direct Kinematic matrix.
%
% K = [ n s a p;
% 0 0 0 1]
% where n, s, a are three vectors fo 3 elements that represents the
% end-effector's orientation, and p is the desired end-effector position.
Cita come
Andrea Cirillo (2024). Inverse Kinematic for 6DOF arm (https://www.mathworks.com/matlabcentral/fileexchange/30243-inverse-kinematic-for-6dof-arm), MATLAB Central File Exchange. Recuperato .
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Versione | Pubblicato | Note della release | |
---|---|---|---|
1.0.0.0 |