In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods, which are Jacobian-based (Damped Least Square and Weighted Pseudoinverse), Null Space, and Task Augmentation.
kinematics
kuka
inverse-kinematics
jacobian
pseudoinverse
forward-kinematics
kuka-robots
null-space
redundancy-resolution
kuka-linear-axis
task-augmentation
damped-least-square
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Updated
Jul 11, 2022 - MATLAB