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I know at least 3 different solutions to inverse kinematics problem. They are pseudo inverse jacobian, cyclic coordinate descent and ANFIS networks. I would like to know their advantages and disadvantages comparing to each other.

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  • $\begingroup$ A fourth method is to calculate closed-form solutions and just program those equations in. This is the method I always use unless I have a very unusual robot for which I cannot compute the equations. This has happened once in thirty years (for a robot with a nonspherical wrist). Since then, closed form solutions for even those robots have been published. $\endgroup$ – SteveO Apr 1 '17 at 16:45
  • $\begingroup$ maybe off topic, but this is nice: cs.cmu.edu/~junggon/tools/gear.html $\endgroup$ – Lennart Rolland Apr 4 '17 at 20:26

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