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1 vote

How can I determine the necessary joint angles given the position of this UR-3 robot?

Here's a paper that includes the derivation of analytical IK solutions for the UR5, but says that the wrist is not spherical. There's also an implementation of analytical IK here in the ...
danzimmerman's user avatar
1 vote
Accepted

How to calculate error for inverse kinematics?

First, you don't seem to correctly define pose, homogeneous transformation matrices etc. A 'pose' is defined by a position and an orientation. Position is typically represented by [x,y,z]' coordinates ...
JRTG's user avatar
  • 2,094

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