In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.
kinematics kuka inverse-kinematics jacobian pseudoinverse forward-kinematics kuka-robots null-space redundancy-resolution kuka-linear-axis task-augmentation damped-least-square
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Updated
Jul 11, 2022 - MATLAB