IKcon, IKunc methods

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Javier Quiroga

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Oct 12, 2021, 5:06:30 AM10/12/21
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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
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