InKinSpace and FKin Space (Space Jacobian)

[SuleymanSoltanov]

Hello.

1. The solution obtained from the Space Jacobian matrix in MATLAB code does not align with the solution derived through manual calculations on paper.
2. The initial guess of joint angles, known as thetalist0, is printed as the result (ans) in InKinSpace. However, it is important to note that the angle in FKinSpace cannot be obtained in MATLAB. This means that if the value of thetalist0 is changed in InKinSpace (for example, from 1.5 to 1.2), the answer found will not be the same as in FKinSpace.

[HuanWeng]

Sorry for the very late reply.

1. I believe our functions are correct. But we are happy to discuss if you can give an example.
2. I don't understand your question. Could you give a specific example? Are you saying that once T = FKinSpace(M, Slist, thetalist), IKinSpace(Slist, M, T, thetalist0, eomg, ev) should always give the same thetalist, no matter the value of thetalist0? The answer is no.