readme.md

1. 描述 Description

本程序基于POE对通用六轴机械臂进行正运动学结算, 利用Paden-Kahan subproblem对逆运动学进行结算, 最终对机械臂进行运动学控制.
We use the POE and the Paden-Kahan subproblem to solve the forward kinematics and the inverse kinematics of the 6 DOF manipulator.

2. 依赖 Dependence

Eigen3 only

3. 运行 Run

    kuka_control.cpp/h: 6DOF kinematics class
    robotics_math.cpp/h: robotics math function