Kinematic equation for DLS

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yokhesh
Posts: 8
Joined: 04 Apr 2017, 19:43

Kinematic equation for DLS

Postby yokhesh » 04 Apr 2017, 19:55

Hi,

I am Yokhesh from Clemson University.
I am doing a project in continuum robotics and I am using V-rep for the simulation.
I am using the inverse kinematics tool in V-rep. I am using the DLS inverse kinematics.
Could you tell me the kinematics equation involved in DLS inverse kinematics option?
It would be very useful for my project.

Regards,
Yokhesh

coppelia
Site Admin
Posts: 5614
Joined: 14 Dec 2012, 00:25

Re: Kinematic equation for DLS

Postby coppelia » 04 Apr 2017, 21:28

Hello Yokhesh,

have a look at following papers for additional details:

C. W. Wampler, “Manipulator inverse kinematic solutions based
on vector formulations and damped least squares methods,” IEEE
Trans. Syst., Man, Cybern., 16-1, pp. 93-101, 1986.


and

Y. Nakamura and H. Hanafusa, “Inverse kinematics solutions with
singularity robustness for robot manipulator control,” Trans. ASME
J. Dyn. Syst., Meas., Contr., 108-2, pp. 163-171, 1986.


Cheers

yokhesh
Posts: 8
Joined: 04 Apr 2017, 19:43

Re: Kinematic equation for DLS

Postby yokhesh » 06 Apr 2017, 18:19

Hi,

Thanks for the reference to the kinematics equation.
Could you also provide the reference for the path planning algorithm used in V-rep?

Thanks,
Yokhesh

coppelia
Site Admin
Posts: 5614
Joined: 14 Dec 2012, 00:25

Re: Kinematic equation for DLS

Postby coppelia » 07 Apr 2017, 08:05

The old path planning functionality in V-REP was based on RRT and/or RRT connect.
But the new path planning functionality is based on an OMPL plugin for V-REP. OMPL basically wraps dowzens of different planning algorithms. We highly recommend to use the OMPL plugin functionality, instead of the old path planning functionality.

Cheers


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