I wondered about ‘Soft’ of kinematic constraint
I know that is the function allowed linear translations at the joint
for prevent some error in parameter optimization.
Is it right? and I want to know exact information about ‘Soft’
such as a algorithm or mathematical expression.
Sincerely yours,
Yongcheol Kim
Hello Yongcheol Kim,
there are some papers from Michael Skipper Andersen about over determinate kinematics. In there he describes the principle of those soft drivers, also with mathematical equations, eg:
Computer Methods in Biomechanics and Biomedical Engineering
Kinematic analysis of over-determinate biomechanical systems
M. S. Andersen, M. Damsgaard; J. Rasmussen
2008
Hope that helps