本程序基于POE对通用六轴机械臂进行正运动学结算, 利用Paden-Kahan subproblem对逆运动学进行结算, 最终对机械臂进行运动学控制.
We use the POE and the Paden-Kahan subproblem to solve the forward kinematics and the inverse kinematics of the 6 DOF manipulator.
Eigen3 only
kuka_control.cpp/h: 6DOF kinematics class
robotics_math.cpp/h: robotics math function