Developed by @LoreBene99, @andreamanera
Assignment given by the professor Giuseppe Casalino for the course "Modeling and Control of Manipulator" - Robotics Engineering, at the University of Genova.
In this exercise we will define all the necessary functions to evaluate the manipulator Jacobian and then implement a simple Closed Loop Inverse Kinematics (CLIK) control.
1. Implement the GetJacobianColumn(biTei, bTe, jointType) function, which returns the Jacobian column for a generic joint i as the stacking of J_A (angular part) and J_L (linear
part), for both revolute and prismatic joint type.
2. Implement the GetJacobian() function which constructs and returns the whole Jacobian.
3. Define a goal transformation matrix and implement a function which evaluates the linear and angular error between the end effector and the goal. Then choose an angular gain (γ_a) and a linear gain (γ_l), and evaluate the desired end effector velocity.
4. Finally applying the inverse kinematics formula to compute the corresponding desired joint velocities.
To verify that everything is working correctly a very simple simulator is provided within the sample code, to check that the robot’s end effector actually reaches the desired goal position.