skrobot.coordinates.math.sr_inverse¶
- skrobot.coordinates.math.sr_inverse(J, k=1.0, weight_vector=None)[source]¶
Returns SR-inverse of given Jacobian.
Calculate Singularity-Robust Inverse See: Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
- Parameters:
J (numpy.ndarray) – jacobian
k (float) – coefficients
weight_vector (None or numpy.ndarray) – weight vector
- Returns:
ret – result of SR-inverse
- Return type: