FA-88182 / Inverse kinematics solvers / Member archive

Secondary motion is projected onto the task space · case 02

The joint-centering objective disturbs the end effector instead of moving in the self-motion manifold.

Member previewVariant 2 · 3 implementations · 7 checks per implementation

Case contract

Input [lengths(3), q(3 deg), target, qc(3 deg), k]: planar 3R arm, position task only. One step dq = J+ e + (I - J+ J) z, J+ = J^T (J J^T)^-1, e = target - fk(q), z = k*(qc-q) in radians. Return the updated q in degrees rounded to 4, or "singular" when |det(J J^T)|<1e-12.

Why this case matters

Inverse kinematics code turns task-space goals into joint commands; a wrong branch, sign, limit or update order sends a real arm to the wrong pose.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
task and centering	`[-55.5967, 145.4425, -42.7815]`	`[-62.5399, 148.4425, -29.151]`	Failed

MEMBER ARCHIVE

The complete case is available to members.

This record includes three runnable implementations, regression fixtures, execution results, and source hashes.

Member access is invitation-based. Sign in with your invited account to inspect the sources.