Least-squares solution of equations of motion under inconsistent constraints

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Least-Squares Minimization Under Constraints

These algorithms are, however, not designed to perform least-squares minimization under hard constraints. This short report outlines two very simple approaches to doing this to solve problems such as the one depicted by Fig. 1. The first relies on standard Lagrange multipliers [Boyd and Vandenberghe, 2004]. The second is inspired by inverse kinematics techniques [Baerlocher and Boulic, 2004] an...

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ژورنال

عنوان ژورنال: Linear Algebra and its Applications

سال: 1995

ISSN: 0024-3795

DOI: 10.1016/0024-3795(93)00267-4