Jakobianowy algorithm

(or Newton algorithm) was proposed as a method that allows to read the internal variables based on the location and orientation of the gripper when the appointment of the inverse model of the kinematics of the task is virtually i mpossible. This method is a significant complication in the case of construction work and it consists of the iterative modification of the internal variables. A prerequisite for the application of this method is to have the formula for the kinematics in the coordinates, which can be determined by Denavita-Hartenberg notation. The model describes the relationship between the coordinates of the internal and external coordinates, and counting its derivative (after all the internal coordinates) will determine the speed of change.