tree_kinematics Documentation

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This package can be used to compute forward and inverse kinematics for tree kinematic structures. The package also
includes an inverse kinematics position solver, which respects joint position, joint velocity and task space
velocity limits. It also applies exponential smoothing, when all end points are considered standing still.
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- Homepage: http://ros.org/wiki/tree_kinematics

This package can be used to compute forward and inverse kinematics for tree kinematic structures. The package also includes an inverse kinematics position solver, which respects joint position, joint velocity and task space velocity limits. It also applies exponential smoothing, when all end points are considered standing still.