Use when solving robot arm inverse kinematics — choosing between geometric/analytical and numerical solvers, handling singularities, joint limits, redundancy, or selecting between IKFast, KDL, and trac-ik. Provides DH parameter methodology, Jacobian-based IK math with damped least squares, workspace
Use when solving robot arm inverse kinematics — choosing between geometric/analytical and numerical solvers, handling singularities, joint limits, redundancy, or selecting between IKFast, KDL, and trac-ik. Provides DH parameter methodology, Jacobian-based IK math with damped least squares, workspace analysis, and production-grade failure-mode handling.
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