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task-augmentation

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Walid-khaled / 7DOF-KUKA-Linear-Axis-Forward-and-Inverse-Kinematics

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In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.

kinematics kuka inverse-kinematics jacobian pseudoinverse forward-kinematics kuka-robots null-space redundancy-resolution kuka-linear-axis task-augmentation damped-least-square
  • Updated Jul 11, 2022
  • MATLAB

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