Inverse kinematics through Jacobian transpose

RowBox[{RowBox[{RowBox[{IKTJOneStep, [, RowBox[{j_, ,, , p_, ,, , dh_, ,, , theta_, ,, xf_, ... sp;   theta + dt * Transpose[jn] . (xf - xc) <br />    ]}], ;}]

These functions provide an iterative solution to the inverse kinematics (position only, for now).

RowBox[{RowBox[{InverseKinematicsTransposeJacobian[dh_, pick_, initial_, xf_, dt_], :=, <br /> ... t * (Length[res] - 1)}}] & /@ Transpose[res]}]}], <br />,     , ]}]}], ;}]

Created by Mathematica  (October 21, 2003)