On 01/24/2018 09:18 PM, Thắng Lê wrote:
Hi,
i'm trying to use Genserkins for redundancy robot. Since Genserkins is
using moore-penrose method to compute pseudoinverse that has problem at
singularities so i wanna replace it by singular value decomposition(SVD)
method to compute pseudoinverse.
I found out lapack library can compute SVD, is it posible use lapack in
linuxcnc?
In general, kinematics can not use any libraries. The reason for this
is that kinematics run in the realtime mode of rtapi, which on the RTAI
platform runs in kernel space, where libraries are not accessible.
It's in the "EMCMOT" aka Motion box in this diagram:
http://linuxcnc.org/docs/devel/html/code/code-notes.html#_architecture_overview
--
Sebastian Kuzminsky
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