simIK.findConfigs algorithm

[kat]

hello,
Could you let me know which kinematics algorithm the simIK.findConfigs uses?
thanks!

[coppelia]

Hello,

it uses randomized approach, combined with an IK solving step approach:

• First a random configuration is applied to the manipulator.
• The distance between the end-effector and the target end-effector is computed
• If the distance is below a threshold, then a linearization around the random configuration tries to bring the end-effector onto the target end-effector. If that succeeds, we have found one desired target configuration for the manipulator.
• If no target configuration was found, we start at step 1 above again

Cheers

[kat]

Ok great thank you, do you have a link to literature on this I can reference?