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log.txt
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InitialGuess=[ 0.207; 3.865 ; 0.789 ;0; 3.244; 0];
[thetalist, success] = IKinBodyIterates(Blist, Mhome, SEdesaired, InitialGuess, ErrOmg, ErrVel)
Iteration:
1
Joint vector:
-0.154693 3.549227 -1.336391 -2.704177 2.941298 -2.082644
SE(3) end effector configuration(with respect to space frame):
-0.0267 0.9994 0.0223 -0.5458
-0.0945 0.0197 -0.9953 0.2288
-0.9952 -0.0287 0.0939 -0.1325
0 0 0 1.0000
The error twist Vb:
0.021056 0.094321 0.027784 -0.226884 0.041162 0.140099
Angular error magnitude:
0.100557
Linear error magnitude:
0.269812
---------------------------------------------------------------
Iteration:
2
Joint vector:
-0.073352 4.174214 -1.921853 -2.571255 3.077572 -1.893497
SE(3) end effector configuration(with respect to space frame):
-0.0047 0.9999 -0.0125 -0.4249
-0.0200 -0.0126 -0.9997 0.1125
-0.9998 -0.0044 0.0201 0.0609
0 0 0 1.0000
The error twist Vb:
-0.012595 0.020031 0.004542 -0.038765 -0.075093 0.013361
Angular error magnitude:
0.024094
Linear error magnitude:
0.085558
---------------------------------------------------------------
Iteration:
3
Joint vector:
-0.058712 4.195716 -1.761587 -2.465248 3.085881 -1.602062
SE(3) end effector configuration(with respect to space frame):
-0.0002 1.0000 -0.0030 -0.4966
-0.0017 -0.0030 -1.0000 0.0996
-1.0000 -0.0002 0.0017 0.1089
0 0 0 1.0000
The error twist Vb:
-0.003028 0.001732 0.000198 0.008948 -0.003369 -0.000416
Angular error magnitude:
0.003494
Linear error magnitude:
0.009570
---------------------------------------------------------------
Iteration:
4
Joint vector:
-0.058872 4.181185 -1.766047 -2.413374 3.082749 -1.569032
SE(3) end effector configuration(with respect to space frame):
0.0000 1.0000 -0.0000 -0.4999
0.0001 -0.0000 -1.0000 0.1000
-1.0000 0.0000 -0.0001 0.1001
0 0 0 1.0000
The error twist Vb:
-0.000029 -0.000104 -0.000003 0.000050 -0.000072 -0.000006
Angular error magnitude:
0.000108
Linear error magnitude:
0.000088
---------------------------------------------------------------
The joint iterations matrix:
0.2070 3.8650 0.7890 0 3.2440 0
-0.1547 3.5492 -1.3364 -2.7042 2.9413 -2.0826
-0.0734 4.1742 -1.9219 -2.5713 3.0776 -1.8935
-0.0587 4.1957 -1.7616 -2.4652 3.0859 -1.6021
-0.0589 4.1812 -1.7660 -2.4134 3.0827 -1.5690
Joint matrix size is 5 Rows(representing iterations) X 6 Cols(representing joint variables).
thetalist =
-0.0589
4.1812
-1.7660
-2.4134
3.0827
-1.5690
success =
logical
1