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Subsections
ReturnMatrix jacobian_DLS_inv(const Real eps, const Real lambda_max,
const int ref=0);
This function returns the inverse Jacobian Matrix for 6 dof manipulator based on the Damped Least-Squares
scheme [10]. Using the singular value decomposition, the Jacobian matrix is
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(2.52) |
where
and
are the input and output vectors, and
are the singular values ordered so that
, with
being the rank of
. Based on the Damped Least-Squares
the inverse Jacobian can be written as
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(2.53) |
where
is the damping factor. A singular region can be selected on the basis of the smallest singular value of J.
Outside the region the exact solution is returned, while inside the region a configuration-varying damping factor is
introduced to obtain the desired approximate solution. This region is defined as
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(2.54) |
Matrix
Next: kine
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Richard Gourdeau
2004-07-06