Pseudo inverse method for 7-DOF manipulator

Developed by: Xinyang Tian.

Platform: Matlab 2019b.

A kinematics inverse solution for 7-DOF manipulator based on pseudo inverse with joint limit avoidance and singularity avoidance.

• Joint limit avoidance: use gradient projection method （GPM）.
• Singularity avoidance: use Damped Least Squares method （DLS）.

Implementation

The code is implemented in MATLAB R2019b. Also, other versions of Matlab are available.