Expand description
Stage B — resolve a conditioned CartesianRun into a continuous joint-space
path by analytic-IK branch tracking.
Each densely-sampled pose is inverted with the chain’s analytic IK, which returns every isolated branch already filtered to joint limits — no Jacobian inversion, so it cannot blow up near singularities. A dynamic program over the branch layers chooses a globally continuous, well-conditioned track: a manipulability term steers away from singular configurations and an edge term penalises joint motion while rejecting discontinuous wrist flips.
Structs§
- Cartesian
Linear Planner - Analytic-IK branch-tracking planner over a single conditioned run.