Generalized Inverse Jacobian velocity trajectories

This function simulates a trajectory specified by the velocity relationship Overscript[θ, .] = J^* Overscript[x, .], where J^* is the pseudo-inverse of the Jacobian (inverse in the case of square matrices). The function arguments are: dh = list of DH parameters, pick = a list of length six of 0s and 1s, which specifies which rows of the Jacobian to use, traj = desired end-effetor velocity trajectory (as a function of t), initial = a list of initial joint angles for θ, and time = the simulation length (1, time).

SimulateInverseJacobianVelocityTrajectory[dh_, pick_, traj_, initial_, time_:1] := <br />  ... yTrajectory[jg, dh, traj, initial, time] <br />        ] ;

Created by Mathematica  (October 21, 2003)