I want implement the IK algorithm,but I haven't the slightest idea about IK

before, after reading some papers and lecuture I downloaded from the

internet, I still cann't fully understand it, the following Pseudocode

embodies my idea, I really need your help to make me master the algorithm.

By the way, I just want to use IK to drive the articulated body.

Pseudocode:

input initial estimate of dQ0;

While(||J*dQ-dx||<=epsilon or IterNum>=MaxIterNum)

{

EstablishJacobian(dQ);//establish the Jacobian matrix;

calculate dX;

calculate calculate J-1;(using Gauss eliminating method if the matrix

is square, else use pseudo inversion)

-1

calculate dQ using equation dQ=dX*J ;

}

EstablishJacobian(dQ)

{

compute end effector transformation T

store 4th column of T as Pn

for( i=1;i<=N;i++)

compute matrix G(G=G*A[i-1], G=A0 if i=1)

store 4th column of G as Pi-1 (3 element vector)

store 3th column of G as Zi-1

compute column i of Jacobian using contiguous

}

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