python计算机器人运动学分析_V-rep学习笔记：机器人逆运动学数值解法（The Jacobian Transpose Method）...

机器人运动学逆解的问题经常出现在动画仿真和工业机器人的轨迹规划中：We want to know how the upper joints of the hierarchy would rotate if we want the end effector to reach some goal.

IK Solutions：

Analytical solutions are desirable because of their speed and exactness of solution.

For complex kinematics problems, analytical solutions may not be possible.

Use iterative methods (迭代法)--Optimization methods (e.g., minimize the distance between end effector and goal point)

机器人学的教材上一般只介绍了运动学逆解的解析解法，很少涉及数值解(迭代解法)。其中有两方面的原因，一是数值解相对于解析解需要的运算量更大，不太适合实时性要求较高的场合；另一方面是因为一般在设计机器人的结构时就会考虑其逆解的可解性，比如相邻的三个关节轴线相交即存在解析解。下面以最简单的二连杆机构为例子，研究一下机器人运动学逆解的数值解法。如下图所示，其运动学正解很容易得到，根据运动学正解可以写出机器人的雅克比矩阵J。

What is Jacobian? A linear approximation to f(x). 雅克比矩阵相当于函数f(x)的一阶导数，即线性近似。

Computing the Jacobian Numerically:(

下面是Jacobian Transpose方法的主要推导过程：

It is recommended that you choose a small positive scalar α < 1 and update the joint angles θ by adding Δθ. Then proceed iteratively by recomputing the Jacobian based on the updated angles and positions, finding new values for Δθ and again updating with a small fraction α. This is repeated until the links are sufficiently close to the desired positions. The question of how small α needs to be depends on the geometry of the links; it would be a good idea to keep α small enough so that the angles are u