Inverse kinematics consists of finding a configuration (joint angles) that reaches a target pose (position and/or orientation) with the end-effector of the robot. You can read more about inverse kinematics in Section 5 of the RCFS documentation.
The goal of this exercise is to implement an inverse kinematics function for the 3 degree-of-freedom manipulator shown on the right. We would like that this robot reaches the pink object continuously even if we move it, which can be done by clicking and dragging the object.
The function controlCommand
continuously sends joint velocity commands to the robot. Currently, the robot is still because u=np.zeros(param.nbVarX)
sends zero commands to the robot.
u
to reach the target position target_position
using current_ee_position
, jacobian
and target_position
.
u
to reach the target position target_position
as a primary task, by keeping the joint configuration the same as the initial one as a secondary task. You can do this by using nullspace control as presented in Section 5.2 of the RCFS documentation.