Help, it's my understading of the Inverse kinematics algorithm right?(without odd text)

Help, it's my understading of the Inverse kinematics algorithm right?(without odd text)

Post by wuxiaoma » Sat, 26 Jul 2003 20:25:31


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

}