I am an enthusiastic robotics engineer with a love for mobile robots and autonomous vehicles. With the combination of knowledge and eager to learn, I strive to push the boundaries of automation and robotics.
In this work the inverse kinematic problem is approached using an on-manifold optimization scheme based on the Levenberg-Marquardt algorithm, including a technique that can be used for auto-differentiation on arbitrary serial open chains. An open-source implementation based on the Matlab robotics-toolbox is provided and tested on industrial manipulators.
