inverse_kinematic

Inverse kinematics §

Newton-Raphson method §

Gauss-Newton §

The Levenberge-Marquardt algorithm (Damped least squares) §

• , the damping factor , the identity matrix
• The Moore-Penrose Pseudoinverse

The gradient method §

• 越过奇点时减小冲击：

  • damped least square (DLS) 在迭代过程中加入了λ阻尼项 Then, we obtain as follows by simplifying Then, we obtain the joint velocity increment of DLS method