IKcon, IKunc methods

[Javier Quiroga]

Hello,

Is there a publication or book that explains how to obtain the objective function (error) and the omega to minimize in these methods? (sumsqr( (inv(T)*robot.fkine(q) - eye(4)) * omega ))

I have found other methods like the Jacobian Inverse and traspose Method but I don't think it's the same one used in those functions.

Thanks