inverse kinematics algorithm in robotic system toolbox of MATLAB ik and ikGeneral has an output matrix that cannot be used outside
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About the qs matrix that the ik solver (2 of them ) outputs - This is the solution matrix of the path that the robot takes. Why can the qs not be used outside of the toolbox. I understand that the qs matrix has a format that only functions like show() can use to display the path of the robot. My need is to take the qs matrix as is and use it for many other purposes ....like a 'non-STIK DIAGRAM' to show() the path of the robotic movements. % Loop through the trajectory of points to trace the circle. Call the |ik| object % for each point to generate the joint configuration that achieves the end-effector % position. Store the configurations to use later. qInitial = q0; % Use home configuration as the initial guess
for i = 1:count
% Solve for the configuration satisfying the desired end effector
% position
point = points(i,:);
qSol = ik(endEffector,trvec2tform(point),weights,qInitial);
% Store the configuration
qs(i,:) = qSol;
% Start from prior solution
qInitial = qSol;
end
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