4 ms·
Cool project! Since the arm seems to be a 2 DoF arm in a 2D application, you don't really need numerical optimization but can get the analytical solution to the
by NalNezumi 2y ago
Cool project! Since the arm seems to be a 2 DoF arm in a 2D application, you don't really need numerical optimization but can get the analytical solution to the inverse kinematics problem. Otherwise using previous joint states as initial guess for the optimization is good so that you don't get weird "swings" in the arm (rarely happen in 2D)
- nomel 2y agoTo put it simply: there's only one solution for each 2d position, if you force the mid joint to always be on one side (and that preferred side can be allowed to switch, to minimize accelerations of the lower arm).
- robertleoj 2y agoThat's true - using numerical optimization was just the simplest/fastest way to get it working :P