# sns_ik

**Repository Path**: null_384_0192/sns_ik

## Basic Information

- **Project Name**: sns_ik
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: dynamic-step
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-04-10
- **Last Updated**: 2021-04-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

*SNS IKL*
Version 0.1.0 beta

The Inverse Kinematic Library (*SNS IKL*) contains tools to invert the differential kinematic of a robot (this version is tested only on fixed base manipulator). 
The methods implemented on the IKL are:
- STD 		the standard pseudoinversion of the jacobian
- SCALE 	pseudoinversion with task scaling to satisfy joint constraints 
- SNS		the SNS algorithm which permits to consider hard constraints at joint level

All this methods permits to solve the inversion of the kinematic of a prioritized stack of task. (note that only the SNS algorithm guarantees to satisfy all joint constraints).   


Author: Fabrizio Flacco
Dipartimento di Ingegneria Informatica, Automatica e Gestionale (DIAG)
Università di Roma "La Sapienza"
Rome, Italy