Kinematic equation for DLS

[yokhesh]

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]

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]

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]

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