How to optimize the control of manipulator

[zhangm365]

OK, Besides, How to solve the second norm of a matrix in LUA script? I only find the vector norm of this vector in file (matrix.lua).
Thanks.

[fferri]

What is the second norm of a matrix?

[zhangm365]

oh. That is just the matirx norm. For example，the function norm in matlab.
Thanks.

[zhangm365]

As my first problem of statement,

As the build-in cals.method,

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simIK.setIkGroupCalculation(ikEnv,ikGroup,simIK.method_damped_least_squares,1.1,10)

How to use a customed algorithm embedded in the script of the scene to calculate the IK of the manipulator?

I want to replace the DLS cals.method with my control algorithm, how are the paramaters to set?

[fferri]

oh. That is just the matirx norm. For example，the function norm in matlab.
Thanks.

Matrix norm is a very ambiguous concept in mathematics.

According to the MATLAB documentation of norm:

2-Norm of Matrix

Calculate the 2-norm of a matrix, which is the largest singular value.

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X = [2 0 1;-1 1 0;-3 3 0];
n = norm(X)

n = 4.7234

that is the largest singular value.

There is no SVD in matrix.lua, but you can find it in the simExtEigen plugin. Once you compiled and installed the simEigen plugin, you can do in CoppeliaSim:

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m=Matrix:fromtable{{2,0,1},{-1,1,0},{-3,3,0}}
singularValues=Matrix:fromtable(simEigen.svd(m:totable{}))

singularValues[1] = 4.72342205