I am trying IK for 5-DOF robot all revolute joint.
I am working IK with Jacobian inverse i.e
end effector velocity = J inverse * error vector.
In error vector I am feeding (x,y,z) positional error; this gives me correct positioning by first 3 joints only. later 2 joints are pitch and roll used for end effector orientation. How can I input my required orientation and calculate orientation error.
I have Jacobian matrix[6 X 5] considering all 5 joints; so J inverse will be [5 X 6] matrix. Error vector [6 X 1] consisting first 3 element of positional error, but for last 3 element what should I feed to get required orientation for my robot and how would I calculate the orientation error and in which form I should input my orientation of end effector.
please help me out.