5.2 IK via Optimization

[@minsungyoon5940]

Thanks for your nice lectures. This lecture series is the best to build a basic in kinematics!

[@Woolfrey]

Thank you! I plan to do an even better series soon!

[@procrastination1233]

Thanks for these lectures. It was very helpful

[@amatoallahouchen5894]

much love and respect! thank you very much

[@bikashojha5207]

Thanks for the awesome content, Dr. Woolfrey. It would be of great help if you could just make me clear on the shape of the matrices, delx and qk. For my 4DOF robotic arm, are these shapes right? 1. delx= (3X2) where first column for (position error of x,y,z) and second column for (RPY angles of e0.) 2. inverse of Jacobian matrix provides shape of 4X3 . so on doing delq=inv(J)*delx, i get delq of shape 4X2. 3. ultimately, qk of shape 4X2, where first column for desired angles and second for desired RPY values. Thank you so much for your time.

[@nhutnguyen2909]

I got a question that the normal quation is qk = qk-1 + alpha*Pseudo-Jacobian(PJ)*deltaX, i know that Gradient descent is a variant of Jacobian but for the deltaX calculation, some paper had wrote the formular "deltaX = J1*dx+ k*(I-J1*J)*GradianH" and that value have been updated by "value = value + deltaX" so what is this Gradient affect on? Thank you

[@satyajithalder5861]

How can I add rotation error to the main objective function, position error, as rotation error is a 3X3 matrix?

[@CE-ov7of]

how did you make the IK solver animation? Great video, very clear and helpful

[@Woolfrey]

I used the Robot Toolbox for MATLAB by Peter Corke to animate the robots, and wrote my own IK solver!

[@Schlopps]

@@Woolfrey Hi, is it possible to get access to yout matlab Code for the IK Solver? Great Work, thank you for the lessosn.

[@Woolfrey]

@@Schlopps Since making this video I've written my own robot toolbox in MATLAB you can download here: github.com/Woolfrey/RobotToolbox It has an IK solver I wrote. I intend to do everything in Python eventually so it's accessible to a wider audience.