The inverse kinematics for a 5DOF robotic arm or 6DOF when zy-orientation of the flange doesn't matter. Added gaussian white noise signal and gaussian acceleration-dependent error spikes to model the issues faced by robotic interfaces with limited computational/joint precision levels. Any advice is welcome. Uses a 'connected spheres' view of joints to avoid having to solve with Newton-Raphsson.
The inverse kinematics for a 5DOF robotic arm or 6DOF when zy-orientation of the flange doesn't matter. Added gaussian white noise signal and gaussian acceleration-dependent error spikes to model the issues faced by robotic interfaces with limited computational/joint precision levels. Any advice is welcome. Uses a 'connected spheres' view of joints to avoid having to solve with Newton-Raphsson.