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Why are ahead-of-time inverse kinematics so much more popular than feedback control methods? The numerical iteration involved in this method seems a lot more e
by chroem- 9y ago
Why are ahead-of-time inverse kinematics so much more popular than feedback control methods? The numerical iteration involved in this method seems a lot more expensive than the iteration used in feedback control, which is also simpler to implement.
Does anybody know?
- chombier 9y agoHow is Jacobian transpose control an ahead-of-time IK? And how would you do IK without at least approximating the Jacobian?
- pgorczak 9y agoIn both cases, you have to transform between the goal in operational space (e.g. end effector pose) and the joint positions. One drawback of using the Jacobian inverse approach for control is that command values can get arbitrarily large in singular configurations (of course there are more advanced techniques to handle these cases).
- Symmetry 9y agoIn a robot you use inverse kinematics to decide at what angle you should be setting your joint angles and then feedback control set the joints to the correct angle (in a very simple robot). I'm not aware of any feedback control mechanism that would turn xyz-space feedback to joint-angle-space control without going through an inverse-kinematics step.